Struct parry3d::query::gjk::CSOPoint[−][src]

pub struct CSOPoint {
    pub point: Point<Real>,
    pub orig1: Point<Real>,
    pub orig2: Point<Real>,
}
Expand description

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>
Expand description

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>
Expand description

The original point on the first shape used to compute self.point.

orig2: Point<Real>
Expand description

The original point on the second shape used to compute self.point.

Implementations

impl CSOPoint[src]

pub fn new(orig1: Point<Real>, orig2: Point<Real>) -> Self[src]

Initializes a CSO point with orig1 - orig2.

pub fn new_with_point(
    point: Point<Real>,
    orig1: Point<Real>,
    orig2: Point<Real>
) -> Self[src]

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[src]

Initializes a CSO point where both original points are equal.

pub fn origin() -> Self[src]

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, [src]

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, [src]

Computes the support point of the CSO of g1 and g2 toward the direction dir.

pub fn translate(&self, dir: &Vector<Real>) -> Self[src]

Translate the CSO point.

pub fn translate_mut(&mut self, dir: &Vector<Real>)[src]

Translate in-place the CSO point.

Trait Implementations

impl Clone for CSOPoint[src]

fn clone(&self) -> CSOPoint[src]

Returns a copy of the value. Read more

fn clone_from(&mut self, source: &Self)1.0.0[src]

Performs copy-assignment from source. Read more

impl Debug for CSOPoint[src]

fn fmt(&self, f: &mut Formatter<'_>) -> Result[src]

Formats the value using the given formatter. Read more

impl PartialEq<CSOPoint> for CSOPoint[src]

fn eq(&self, other: &CSOPoint) -> bool[src]

This method tests for self and other values to be equal, and is used by ==. Read more

fn ne(&self, other: &CSOPoint) -> bool[src]

This method tests for !=.

impl Sub<CSOPoint> for CSOPoint[src]

type Output = Vector<Real>

The resulting type after applying the - operator.

fn sub(self, rhs: CSOPoint) -> Vector<Real>[src]

Performs the - operation. Read more

impl Copy for CSOPoint[src]

impl StructuralPartialEq for CSOPoint[src]

Auto Trait Implementations

Blanket Implementations

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

pub fn type_id(&self) -> TypeId[src]

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T where
    T: ?Sized, [src]

pub fn borrow(&self) -> &T[src]

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T where
    T: ?Sized, [src]

pub fn borrow_mut(&mut self) -> &mut T[src]

Mutably borrows from an owned value. Read more

impl<T> Downcast for T where
    T: Any, [src]

pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>[src]

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>[src]

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)[src]

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)[src]

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impl<T> DowncastSync for T where
    T: Any + Send + Sync, [src]

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

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

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

Performs the conversion.

impl<T, U> Into<U> for T where
    U: From<T>, [src]

pub fn into(self) -> U[src]

Performs the conversion.

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<T> Scalar for T where
    T: Copy + PartialEq<T> + Debug + Any, [src]

pub fn inlined_clone(&self) -> T[src]

Performance hack: Clone doesn’t get inlined for Copy types in debug mode, so make it inline anyway.

fn is<T>() -> bool where
    T: Scalar, [src]

Tests if Self the same as the type T Read more

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>, [src]

pub fn to_subset(&self) -> Option<SS>[src]

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

pub fn is_in_subset(&self) -> bool[src]

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

pub fn to_subset_unchecked(&self) -> SS[src]

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

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

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

impl<T> ToOwned for T where
    T: Clone, [src]

type Owned = T

The resulting type after obtaining ownership.

pub fn to_owned(&self) -> T[src]

Creates owned data from borrowed data, usually by cloning. Read more

pub fn clone_into(&self, target: &mut T)[src]

🔬 This is a nightly-only experimental API. (toowned_clone_into)

recently added

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T where
    U: Into<T>, [src]

type Error = Infallible

The type returned in the event of a conversion error.

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

Performs the conversion.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, [src]

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

The type returned in the event of a conversion error.

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

Performs the conversion.