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>
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>
The original point on the first shape used to compute self.point
.
orig2: Point<Real>
The original point on the second shape used to compute self.point
.
Implementations
sourceimpl CSOPoint
impl CSOPoint
sourcepub fn new(orig1: Point<Real>, orig2: Point<Real>) -> Self
pub fn new(orig1: Point<Real>, orig2: Point<Real>) -> Self
Initializes a CSO point with orig1 - orig2
.
sourcepub fn new_with_point(
point: Point<Real>,
orig1: Point<Real>,
orig2: Point<Real>
) -> Self
pub fn new_with_point(
point: Point<Real>,
orig1: Point<Real>,
orig2: Point<Real>
) -> Self
Initializes a CSO point with all information provided.
It is assumed, but not checked, that point == orig1 - orig2
.
sourcepub fn single_point(point: Point<Real>) -> Self
pub fn single_point(point: Point<Real>) -> Self
Initializes a CSO point where both original points are equal.
sourcepub 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,
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,
Computes the support point of the CSO of g1
and g2
toward the unit direction dir
.
sourcepub fn from_shapes<G1: ?Sized, G2: ?Sized>(
pos12: &Isometry<Real>,
g1: &G1,
g2: &G2,
dir: &Vector<Real>
) -> Self where
G1: SupportMap,
G2: SupportMap,
pub fn from_shapes<G1: ?Sized, G2: ?Sized>(
pos12: &Isometry<Real>,
g1: &G1,
g2: &G2,
dir: &Vector<Real>
) -> Self where
G1: SupportMap,
G2: SupportMap,
Computes the support point of the CSO of g1
and g2
toward the direction dir
.
sourcepub fn translate_mut(&mut self, dir: &Vector<Real>)
pub fn translate_mut(&mut self, dir: &Vector<Real>)
Translate in-place the CSO point.
Trait Implementations
impl Copy for CSOPoint
impl StructuralPartialEq for CSOPoint
Auto Trait Implementations
impl RefUnwindSafe for CSOPoint
impl Send for CSOPoint
impl Sync for CSOPoint
impl Unpin for CSOPoint
impl UnwindSafe for CSOPoint
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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
sourcefn as_any(&self) -> &(dyn Any + 'static)
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
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more