Struct openrr_planner::JointPathPlanner
source · pub struct JointPathPlanner<N>where
N: RealField + Copy + SubsetOf<f64>,{
pub step_length: N,
pub max_try: usize,
pub num_smoothing: usize,
/* private fields */
}
Expand description
Collision Avoidance Path Planner
Fields§
§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
Implementations§
source§impl<N> JointPathPlanner<N>where
N: RealField + Float + SubsetOf<f64>,
impl<N> JointPathPlanner<N>where N: RealField + Float + SubsetOf<f64>,
sourcepub fn new(
reference_robot: Arc<Chain<N>>,
robot_collision_detector: RobotCollisionDetector<N>,
step_length: N,
max_try: usize,
num_smoothing: usize
) -> Self
pub fn new( reference_robot: Arc<Chain<N>>, robot_collision_detector: RobotCollisionDetector<N>, step_length: N, max_try: usize, num_smoothing: usize ) -> Self
Create JointPathPlanner
sourcepub fn plan(
&self,
using_joint_names: &[String],
start_angles: &[N],
goal_angles: &[N],
objects: &Compound<N>
) -> Result<Vec<Vec<N>>, Error>
pub fn plan( &self, using_joint_names: &[String], 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 ofusing_joints
.goal_angles
: goal joint angles ofusing_joints
.objects
: The collision betweenself.collision_check_robot
andobjects
will be checked.
sourcepub fn plan_avoid_self_collision(
&self,
using_joint_names: &[String],
start_angles: &[N],
goal_angles: &[N]
) -> Result<Vec<Vec<N>>, Error>
pub fn plan_avoid_self_collision( &self, using_joint_names: &[String], 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 ofusing_joints
.goal_angles
: goal joint angles ofusing_joints
.
sourcepub fn sync_joint_positions_with_reference(&self)
pub fn sync_joint_positions_with_reference(&self)
Synchronize joint positions of the planning robot model with the reference robot
sourcepub fn update_transforms(&self) -> Vec<Isometry3<N>>
pub fn update_transforms(&self) -> Vec<Isometry3<N>>
Calculate the transforms of all of the links
sourcepub fn joint_names(&self) -> Vec<String>
pub fn joint_names(&self) -> Vec<String>
Get the names of the links
sourcepub fn collision_check_robot(&self) -> &Chain<N>
pub fn collision_check_robot(&self) -> &Chain<N>
Get the robot model used for collision checking
sourcepub fn env_collision_link_names(&self, objects: &Compound<N>) -> Vec<String>
pub fn env_collision_link_names(&self, objects: &Compound<N>) -> Vec<String>
Get names of links colliding with environmental objects objects: environmental objects
sourcepub fn self_collision_link_pairs(&self) -> Vec<(String, String)>
pub fn self_collision_link_pairs(&self) -> Vec<(String, String)>
Get names of self-colliding 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>
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