[−][src]Struct gear::JointPathPlanner

pub struct JointPathPlanner<N> where
    N: RealField + SubsetOf<f64>,  {
    pub collision_check_robot: Chain<N>,
    pub collision_checker: CollisionChecker<N>,
    pub step_length: N,
    pub max_try: usize,
    pub num_smoothing: usize,
    pub urdf_robot: Option<Robot>,
    pub self_collision_pairs: Vec<(String, String)>,
}

Collision Avoidance Path Planner

Fields

collision_check_robot: Chain<N>

Instance of k::HasLinks to check the collision

collision_checker: CollisionChecker<N>

Collision checker

step_length: N

Unit length for searching

If the value is large, the path become sparse.

max_try: usize

Max num of RRT search loop

num_smoothing: usize

Num of path smoothing trials

urdf_robot: Option<Robot>

The robot instance which is used to create the robot model

self_collision_pairs: Vec<(String, String)>

Optional self collision check node names

Implementations

`impl<N> JointPathPlanner<N> where N: RealField + Float + SubsetOf<f64>,` [src]

`pub fn new( collision_check_robot: Chain<N>, collision_checker: CollisionChecker<N>, step_length: N, max_try: usize, num_smoothing: usize ) -> Self`[src]

Create JointPathPlanner

`pub fn is_feasible( &self, using_joints: &Chain<N>, joint_positions: &[N], objects: &Compound<N> ) -> bool`[src]

Check if the joint_positions are OK

`pub fn has_any_colliding(&self, objects: &Compound<N>) -> bool`[src]

Check if there are any colliding links

`pub fn colliding_link_names(&self, objects: &Compound<N>) -> Vec<String>`[src]

Get the names of colliding links

`pub fn is_feasible_with_self( &self, using_joints: &Chain<N>, joint_positions: &[N] ) -> bool`[src]

Check if the joint_positions are OK

`pub fn has_any_colliding_with_self(&self) -> bool`[src]

Check if there are any colliding links

`pub fn colliding_link_names_with_self(&self) -> Vec<(String, String)>`[src]

Get the names of colliding links

`pub fn plan( &self, using_joints: &Chain<N>, start_angles: &[N], goal_angles: &[N], objects: &Compound<N> ) -> Result<Vec<Vec<N>>, Error>`[src]

Plan the sequence of joint angles of using_joints

Arguments

using_joints: part of collision_check_robot. the dof of the following angles must be same as this model.
start_angles: initial joint angles of using_joints.
goal_angles: goal joint angles of using_joints.
objects: The collision between self.collision_check_robot and objects will be checked.

`pub fn plan_avoid_self_collision( &self, using_joints: &Chain<N>, start_angles: &[N], goal_angles: &[N] ) -> Result<Vec<Vec<N>>, Error>`[src]

Plan the sequence of joint angles of using_joints to avoid self collision.

Arguments

using_joints: part of collision_check_robot. the dof of the following angles must be same as this model.
start_angles: initial joint angles of using_joints.
goal_angles: goal joint angles of using_joints.

`pub fn update_transforms(&self) -> Vec<Isometry3<N>>`[src]

Calculate the transforms of all of the links

`pub fn joint_names(&self) -> Vec<String>`[src]

Get the names of the links

Auto Trait Implementations

`impl<N> !RefUnwindSafe for JointPathPlanner<N>`[src]

`impl<N> Send for JointPathPlanner<N> where N: Scalar,` [src]

`impl<N> Sync for JointPathPlanner<N> where N: Scalar,` [src]

`impl<N> Unpin for JointPathPlanner<N> where N: Scalar + Unpin,` [src]

`impl<N> !UnwindSafe for JointPathPlanner<N>`[src]

Blanket Implementations

`impl<T> Any for T where T: 'static + ?Sized,` [src]

`pub fn type_id(&self) -> TypeId`[src]

`impl<T> Borrow<T> for T where T: ?Sized,` [src]

`pub fn borrow(&self) -> &T`[src]

`impl<T> BorrowMut<T> for T where T: ?Sized,` [src]

`pub fn borrow_mut(&mut self) -> &mut T`[src]

`impl<T> Downcast for T where T: Any,`

`pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>`

`pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>`

`pub fn as_any(&self) -> &(dyn Any + 'static)`

`pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)`

`impl<T> DowncastSync for T where T: Send + Sync + Any,`

`pub fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + 'static + Send + Sync>`

`impl<T> From<T> for T`[src]

`pub fn from(t: T) -> T`[src]

`impl<T, U> Into for T where U: From<T>,` [src]

`pub fn into(self) -> U`[src]

`impl<T> Same<T> for T`

`type Output = T`

Should always be Self

`impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,`

`pub fn to_subset(&self) -> Option<SS>`

`pub fn is_in_subset(&self) -> bool`

`pub fn to_subset_unchecked(&self) -> SS`

`pub fn from_subset(element: &SS) -> SP`

`impl<T, U> TryFrom for T where U: Into<T>,` [src]

`type Error = Infallible`

The type returned in the event of a conversion error.

`pub fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>`[src]

`impl<T, U> TryInto for T where U: TryFrom<T>,` [src]

`type Error = >::Error`

The type returned in the event of a conversion error.

[−][src]Struct gear::JointPathPlanner

Fields

Implementations

impl<N> JointPathPlanner<N> where N: RealField + Float + SubsetOf<f64>, [src]

pub fn new( collision_check_robot: Chain<N>, collision_checker: CollisionChecker<N>, step_length: N, max_try: usize, num_smoothing: usize) -> Self[src]

pub fn is_feasible( &self, using_joints: &Chain<N>, joint_positions: &[N], objects: &Compound<N>) -> bool[src]

pub fn has_any_colliding(&self, objects: &Compound<N>) -> bool[src]

pub fn colliding_link_names(&self, objects: &Compound<N>) -> Vec<String>[src]

pub fn is_feasible_with_self( &self, using_joints: &Chain<N>, joint_positions: &[N]) -> bool[src]

pub fn has_any_colliding_with_self(&self) -> bool[src]

pub fn colliding_link_names_with_self(&self) -> Vec<(String, String)>[src]

pub fn plan( &self, using_joints: &Chain<N>, start_angles: &[N], goal_angles: &[N], objects: &Compound<N>) -> Result<Vec<Vec<N>>, Error>[src]

Arguments

pub fn plan_avoid_self_collision( &self, using_joints: &Chain<N>, start_angles: &[N], goal_angles: &[N]) -> Result<Vec<Vec<N>>, Error>[src]

Arguments

pub fn update_transforms(&self) -> Vec<Isometry3<N>>[src]

pub fn joint_names(&self) -> Vec<String>[src]

Auto Trait Implementations

impl<N> !RefUnwindSafe for JointPathPlanner<N>[src]

impl<N> Send for JointPathPlanner<N> where N: Scalar, [src]

impl<N> Sync for JointPathPlanner<N> where N: Scalar, [src]

impl<N> Unpin for JointPathPlanner<N> where N: Scalar + Unpin, [src]

impl<N> !UnwindSafe for JointPathPlanner<N>[src]

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized, [src]

pub fn type_id(&self) -> TypeId[src]

impl<T> Borrow<T> for T where T: ?Sized, [src]

pub fn borrow(&self) -> &T[src]

impl<T> BorrowMut<T> for T where T: ?Sized, [src]

pub fn borrow_mut(&mut self) -> &mut T[src]

impl<T> Downcast for T where T: Any,

pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>

pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>

pub fn as_any(&self) -> &(dyn Any + 'static)

pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

impl<T> DowncastSync for T where T: Send + Sync + Any,

pub fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + 'static + Send + Sync>

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

impl<T, U> Into<U> for T where U: From<T>, [src]

pub fn into(self) -> U[src]

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

pub fn to_subset(&self) -> Option<SS>

pub fn is_in_subset(&self) -> bool

pub fn to_subset_unchecked(&self) -> SS

pub fn from_subset(element: &SS) -> SP

impl<T, U> TryFrom<U> for T where U: Into<T>, [src]

type Error = Infallible

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]

impl<T, U> TryInto<U> for T where U: TryFrom<T>, [src]

type Error = <U as TryFrom<T>>::Error

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]

impl<V, T> VZip<V> for T where V: MultiLane<T>,

pub fn vzip(self) -> V

`impl<N> JointPathPlanner<N> where N: RealField + Float + SubsetOf<f64>,` [src]

`pub fn new( collision_check_robot: Chain<N>, collision_checker: CollisionChecker<N>, step_length: N, max_try: usize, num_smoothing: usize ) -> Self`[src]

`pub fn is_feasible( &self, using_joints: &Chain<N>, joint_positions: &[N], objects: &Compound<N> ) -> bool`[src]

`pub fn has_any_colliding(&self, objects: &Compound<N>) -> bool`[src]

`pub fn colliding_link_names(&self, objects: &Compound<N>) -> Vec<String>`[src]

`pub fn is_feasible_with_self( &self, using_joints: &Chain<N>, joint_positions: &[N] ) -> bool`[src]

`pub fn has_any_colliding_with_self(&self) -> bool`[src]

`pub fn colliding_link_names_with_self(&self) -> Vec<(String, String)>`[src]

`pub fn plan( &self, using_joints: &Chain<N>, start_angles: &[N], goal_angles: &[N], objects: &Compound<N> ) -> Result<Vec<Vec<N>>, Error>`[src]

`pub fn plan_avoid_self_collision( &self, using_joints: &Chain<N>, start_angles: &[N], goal_angles: &[N] ) -> Result<Vec<Vec<N>>, Error>`[src]

`pub fn update_transforms(&self) -> Vec<Isometry3<N>>`[src]

`pub fn joint_names(&self) -> Vec<String>`[src]

`impl<N> !RefUnwindSafe for JointPathPlanner<N>`[src]

`impl<N> Send for JointPathPlanner<N> where N: Scalar,` [src]

`impl<N> Sync for JointPathPlanner<N> where N: Scalar,` [src]

`impl<N> Unpin for JointPathPlanner<N> where N: Scalar + Unpin,` [src]

`impl<N> !UnwindSafe for JointPathPlanner<N>`[src]

`impl<T> Any for T where T: 'static + ?Sized,` [src]

`pub fn type_id(&self) -> TypeId`[src]

`impl<T> Borrow<T> for T where T: ?Sized,` [src]

`pub fn borrow(&self) -> &T`[src]

`impl<T> BorrowMut<T> for T where T: ?Sized,` [src]

`pub fn borrow_mut(&mut self) -> &mut T`[src]

`impl<T> Downcast for T where T: Any,`

`pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>`

`pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>`

`pub fn as_any(&self) -> &(dyn Any + 'static)`

`pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)`

`impl<T> DowncastSync for T where T: Send + Sync + Any,`

`pub fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + 'static + Send + Sync>`

`impl<T> From<T> for T`[src]

`pub fn from(t: T) -> T`[src]

`impl<T, U> Into<U> for T where U: From<T>,` [src]

`pub fn into(self) -> U`[src]

`impl<T> Same<T> for T`

`type Output = T`

`impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,`

`pub fn to_subset(&self) -> Option<SS>`

`pub fn is_in_subset(&self) -> bool`

`pub fn to_subset_unchecked(&self) -> SS`

`pub fn from_subset(element: &SS) -> SP`

`impl<T, U> TryFrom<U> for T where U: Into<T>,` [src]

`type Error = Infallible`

`pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>`[src]

`impl<T, U> TryInto<U> for T where U: TryFrom<T>,` [src]

`type Error = <U as TryFrom<T>>::Error`

`pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>`[src]

`impl<V, T> VZip<V> for T where V: MultiLane<T>,`

`pub fn vzip(self) -> V`