Struct openrr_planner::JointPathPlannerBuilder

pub struct JointPathPlannerBuilder<N> where
    N: RealField,  { /* fields omitted */ }

Builder pattern to create JointPathPlanner

Implementations

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

pub fn new(urdf_robot: Robot, collision_checker: CollisionChecker<N>) -> Self

Create from components

There are also some utility functions to create from urdf

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) -> JointPathPlanner<N>

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

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

pub fn from_urdf_robot<P>(robot: Robot) -> JointPathPlannerBuilder<N>

Try to create JointPathPlannerBuilder instance from urdf_rs::Robot instance