Struct openrr_planner::JointPathPlannerBuilder
source · pub struct JointPathPlannerBuilder<N>where
N: RealField + Copy + SubsetOf<f64>,{ /* private fields */ }
Expand description
Builder pattern to create JointPathPlanner
Implementations§
source§impl<N> JointPathPlannerBuilder<N>where
N: RealField + Float + SubsetOf<f64>,
impl<N> JointPathPlannerBuilder<N>where N: RealField + Float + SubsetOf<f64>,
sourcepub fn new(robot_collision_detector: RobotCollisionDetector<N>) -> Self
pub fn new(robot_collision_detector: RobotCollisionDetector<N>) -> Self
Create from components
There are also some utility functions to create from urdf
pub fn reference_robot(self, robot: Arc<Chain<N>>) -> Self
pub fn collision_check_margin(self, length: N) -> Self
pub fn step_length(self, step_length: N) -> Self
pub fn max_try(self, max_try: usize) -> Self
pub fn num_smoothing(self, num_smoothing: usize) -> Self
pub fn self_collision_pairs( self, self_collision_pairs: Vec<(String, String)> ) -> Self
pub fn finalize(self) -> Result<JointPathPlanner<N>, Error>
sourcepub fn from_urdf_file<P>(file: P) -> Result<JointPathPlannerBuilder<N>, Error>where
P: AsRef<Path>,
pub fn from_urdf_file<P>(file: P) -> Result<JointPathPlannerBuilder<N>, Error>where P: AsRef<Path>,
Try to create JointPathPlannerBuilder
instance from URDF file and end link name
sourcepub fn from_urdf_robot(urdf_robot: Robot) -> JointPathPlannerBuilder<N>
pub fn from_urdf_robot(urdf_robot: Robot) -> JointPathPlannerBuilder<N>
Try to create JointPathPlannerBuilder
instance from urdf_rs::Robot
instance
Auto Trait Implementations§
impl<N> !RefUnwindSafe for JointPathPlannerBuilder<N>
impl<N> Send for JointPathPlannerBuilder<N>
impl<N> Sync for JointPathPlannerBuilder<N>
impl<N> Unpin for JointPathPlannerBuilder<N>where N: Unpin,
impl<N> !UnwindSafe for JointPathPlannerBuilder<N>
Blanket Implementations§
§impl<T> Downcast for Twhere
T: Any,
impl<T> Downcast for Twhere T: Any,
§fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
Convert
Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
.§fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert
Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
.§fn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert
&Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s.§fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert
&mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s.source§impl<T> Instrument for T
impl<T> Instrument for T
source§fn instrument(self, span: Span) -> Instrumented<Self>
fn instrument(self, span: Span) -> Instrumented<Self>
source§fn in_current_span(self) -> Instrumented<Self>
fn in_current_span(self) -> Instrumented<Self>
§impl<T> Pointable for T
impl<T> Pointable for T
§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere SS: SubsetOf<SP>,
§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self
from the equivalent element of its
superset. Read more§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self
is actually part of its subset T
(and can be converted to it).§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset
but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self
to the equivalent element of its superset.