Struct openrr_planner::JointPathPlannerBuilder

pub struct JointPathPlannerBuilder<N>where
    N: RealField + Copy + SubsetOf<f64>,{ /* private fields */ }

Builder pattern to create JointPathPlanner

Implementations

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

pub fn new(robot_collision_detector: RobotCollisionDetector<N>) -> Self

Create from components

There are also some utility functions to create from urdf

pub fn reference_robot(self, robot: Arc<Chain<N>>) -> Self

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) -> Result<JointPathPlanner<N>, Error>

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(urdf_robot: Robot) -> JointPathPlannerBuilder<N>

Try to create JointPathPlannerBuilder instance from urdf_rs::Robot instance