Struct parry2d_f64::query::gjk::CSOPoint [−][src]
A point of a Configuration-Space Obstacle.
A Configuration-Space Obstacle (CSO) is the result of the Minkowski Difference of two solids. In other words, each of its points correspond to the difference of two point, each belonging to a different solid.
Fields
point: Point<Real>
The point on the CSO. This is equal to self.orig1 - self.orig2
, unless this CSOPoint
has been translated with self.translate.
orig1: Point<Real>
The original point on the first shape used to compute self.point
.
orig2: Point<Real>
The original point on the second shape used to compute self.point
.
Implementations
impl CSOPoint
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pub fn new(orig1: Point<Real>, orig2: Point<Real>) -> Self
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Initializes a CSO point with orig1 - orig2
.
pub fn new_with_point(
point: Point<Real>,
orig1: Point<Real>,
orig2: Point<Real>
) -> Self
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point: Point<Real>,
orig1: Point<Real>,
orig2: Point<Real>
) -> Self
Initializes a CSO point with all information provided.
It is assumed, but not checked, that point == orig1 - orig2
.
pub fn single_point(point: Point<Real>) -> Self
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Initializes a CSO point where both original points are equal.
pub fn origin() -> Self
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CSO point where all components are set to zero.
pub fn from_shapes_toward<G1: ?Sized, G2: ?Sized>(
pos12: &Isometry<Real>,
g1: &G1,
g2: &G2,
dir: &Unit<Vector<Real>>
) -> Self where
G1: SupportMap,
G2: SupportMap,
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pos12: &Isometry<Real>,
g1: &G1,
g2: &G2,
dir: &Unit<Vector<Real>>
) -> Self where
G1: SupportMap,
G2: SupportMap,
Computes the support point of the CSO of g1
and g2
toward the unit direction dir
.
pub fn from_shapes<G1: ?Sized, G2: ?Sized>(
pos12: &Isometry<Real>,
g1: &G1,
g2: &G2,
dir: &Vector<Real>
) -> Self where
G1: SupportMap,
G2: SupportMap,
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pos12: &Isometry<Real>,
g1: &G1,
g2: &G2,
dir: &Vector<Real>
) -> Self where
G1: SupportMap,
G2: SupportMap,
Computes the support point of the CSO of g1
and g2
toward the direction dir
.
pub fn translate(&self, dir: &Vector<Real>) -> Self
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Translate the CSO point.
pub fn translate_mut(&mut self, dir: &Vector<Real>)
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Translate in-place the CSO point.
Trait Implementations
impl Clone for CSOPoint
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impl Copy for CSOPoint
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impl Debug for CSOPoint
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impl PartialEq<CSOPoint> for CSOPoint
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impl StructuralPartialEq for CSOPoint
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impl Sub<CSOPoint> for CSOPoint
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Auto Trait Implementations
impl RefUnwindSafe for CSOPoint
impl Send for CSOPoint
impl Sync for CSOPoint
impl Unpin for CSOPoint
impl UnwindSafe for CSOPoint
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Az for T
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impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> CheckedAs for T
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pub fn checked_as<Dst>(self) -> Option<Dst> where
T: CheckedCast<Dst>,
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T: CheckedCast<Dst>,
impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
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T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
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Dst: LosslessTryFrom<Src>,
pub fn lossless_try_into(self) -> Option<Dst>
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impl<Src, Dst> LossyInto<Dst> for Src where
Dst: LossyFrom<Src>,
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Dst: LossyFrom<Src>,
pub fn lossy_into(self) -> Dst
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impl<T> OverflowingAs for T
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pub fn overflowing_as<Dst>(self) -> (Dst, bool) where
T: OverflowingCast<Dst>,
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T: OverflowingCast<Dst>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> SaturatingAs for T
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pub fn saturating_as<Dst>(self) -> Dst where
T: SaturatingCast<Dst>,
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T: SaturatingCast<Dst>,
impl<T> Scalar for T where
T: Copy + PartialEq<T> + Debug + Any,
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T: Copy + PartialEq<T> + Debug + Any,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> UnwrappedAs for T
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pub fn unwrapped_as<Dst>(self) -> Dst where
T: UnwrappedCast<Dst>,
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T: UnwrappedCast<Dst>,
impl<T> WrappingAs for T
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pub fn wrapping_as<Dst>(self) -> Dst where
T: WrappingCast<Dst>,
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T: WrappingCast<Dst>,