Struct openrr_planner::JointPathPlanner[−][src]

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)>,
}

Expand description

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

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

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

Create JointPathPlanner

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

Check if the joint_positions are OK

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

Check if there are any colliding links

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

Get the names of colliding links

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

Check if the joint_positions are OK

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pub fn has_any_colliding_with_self(&self) -> bool

Check if there are any colliding links

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

Get the names of colliding links

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

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.

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

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.

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

Calculate the transforms of all of the links

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

Get the names of the links

Auto Trait Implementations

impl<N> !RefUnwindSafe for JointPathPlanner<N>

impl<N> Send for JointPathPlanner<N>

impl<N> Sync for JointPathPlanner<N>

impl<N> Unpin for JointPathPlanner<N> where
    N: Unpin,

impl<N> !UnwindSafe for JointPathPlanner<N>

Blanket Implementations

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

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pub fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T where
    T: ?Sized,

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pub fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T where
    T: ?Sized,

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pub fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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

pub 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. Read more

pub 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. Read more

pub 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. Read more

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,

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

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait. Read more

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impl<T> From<T> for T

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pub fn from(t: T) -> T

Performs the conversion.

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impl<T> Instrument for T

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fn instrument(self, span: Span) -> Instrumented<Self>

Instruments this type with the provided Span, returning an Instrumented wrapper. Read more

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fn in_current_span(self) -> Instrumented<Self>

Instruments this type with the current Span, returning an Instrumented wrapper. Read more

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impl<T, U> Into<U> for T where
    U: From<T>,

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pub fn into(self) -> U

Performs the conversion.

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>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

pub fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

pub fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

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

The inclusion map: converts self to the equivalent element of its superset.

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impl<T, U> TryFrom<U> for T where
    U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

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

Performs the conversion.

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impl<T, U> TryInto<U> for T where
    U: TryFrom<T>,

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

The type returned in the event of a conversion error.

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

Performs the conversion.

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

pub fn vzip(self) -> V