openrr_planner/lib.rs
1/*
2Copyright 2017 Takashi Ogura
3
4Licensed under the Apache License, Version 2.0 (the "License");
5you may not use this file except in compliance with the License.
6You may obtain a copy of the License at
7
8 http://www.apache.org/licenses/LICENSE-2.0
9
10Unless required by applicable law or agreed to in writing, software
11distributed under the License is distributed on an "AS IS" BASIS,
12WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13See the License for the specific language governing permissions and
14limitations under the License.
15*/
16
17#![doc = include_str!("../README.md")]
18#![warn(rust_2018_idioms)]
19// buggy: https://github.com/rust-lang/rust-clippy/issues?q=is%3Aissue+derive_partial_eq_without_eq
20#![allow(clippy::derive_partial_eq_without_eq)]
21
22mod errors;
23
24pub mod collision;
25
26mod funcs;
27
28mod ik;
29
30mod planner;
31
32// re-export k::IK modules
33pub use k::{InverseKinematicsSolver, JacobianIkSolver};
34
35pub use crate::{
36 collision::{CollisionDetector, FromUrdf, SelfCollisionChecker, SelfCollisionCheckerConfig},
37 errors::Error,
38 funcs::*,
39 ik::*,
40 planner::*,
41};