Struct parry2d::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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impl CSOPoint
[src]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 StructuralPartialEq for CSOPoint
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impl StructuralPartialEq for CSOPoint
[src]Auto Trait Implementations
impl RefUnwindSafe for CSOPoint
impl RefUnwindSafe for CSOPoint
impl UnwindSafe for CSOPoint
impl UnwindSafe for CSOPoint
Blanket Implementations
impl<T> CheckedAs for T
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impl<T> CheckedAs for T
[src]pub fn checked_as<Dst>(self) -> Option<Dst> where
T: CheckedCast<Dst>,
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T: CheckedCast<Dst>,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
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impl<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
[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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impl<Src, Dst> LossyInto<Dst> for Src where
Dst: LossyFrom<Src>,
[src]pub fn lossy_into(self) -> Dst
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impl<T> OverflowingAs for T
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impl<T> OverflowingAs for T
[src]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
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> SaturatingAs for T
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impl<T> SaturatingAs for T
[src]pub fn saturating_as<Dst>(self) -> Dst where
T: SaturatingCast<Dst>,
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T: SaturatingCast<Dst>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]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> UnwrappedAs for T
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impl<T> UnwrappedAs for T
[src]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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impl<T> WrappingAs for T
[src]pub fn wrapping_as<Dst>(self) -> Dst where
T: WrappingCast<Dst>,
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T: WrappingCast<Dst>,