Struct CSOPoint

pub struct CSOPoint<N: RealField + Copy> {
    pub point: Point<N>,
    pub orig1: Point<N>,
    pub orig2: Point<N>,
}

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<N>

The point on the CSO. This is equal to self.orig1 - self.orig2, unless this CSOPoint has been translated with self.translate.

orig1: Point<N>

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

orig2: Point<N>

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

Implementations

impl<N: RealField + Copy> CSOPoint<N>

pub fn new(orig1: Point<N>, orig2: Point<N>) -> Self

Initializes a CSO point with orig1 - orig2.

pub fn new_with_point(point: Point<N>, orig1: Point<N>, orig2: Point<N>) -> Self

Initializes a CSO point with all information provided.

It is assumed, but not checked, that point == orig1 - orig2.

pub fn single_point(point: Point<N>) -> Self

Initializes a CSO point where both original points are equal.

pub fn origin() -> Self

CSO point where all components are set to zero.

pub fn from_shapes_toward<G1, G2>( m1: &Isometry<N>, g1: &G1, m2: &Isometry<N>, g2: &G2, dir: &Unit<Vector<N>>, ) -> Self

where G1: SupportMap<N> + ?Sized, G2: SupportMap<N> + ?Sized,

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

pub fn from_shapes<G1, G2>( m1: &Isometry<N>, g1: &G1, m2: &Isometry<N>, g2: &G2, dir: &Vector<N>, ) -> Self

where G1: SupportMap<N> + ?Sized, G2: SupportMap<N> + ?Sized,

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

pub fn translate(&self, dir: &Vector<N>) -> Self

Translate the CSO point.

pub fn translate_mut(&mut self, dir: &Vector<N>)

Translate in-place the CSO point.

Trait Implementations

impl<N: Clone + RealField + Copy> Clone for CSOPoint<N>

fn clone(&self) -> CSOPoint<N>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<N: Debug + RealField + Copy> Debug for CSOPoint<N>

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

Formats the value using the given formatter.

impl<N: PartialEq + RealField + Copy> PartialEq for CSOPoint<N>

fn eq(&self, other: &CSOPoint<N>) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<N: RealField + Copy> Sub for CSOPoint<N>

type Output = Matrix<N, Const<nalgebra::::base::dimension::U3::{constant#0}>, Const<1>, ArrayStorage<N, 3, 1>>

The resulting type after applying the - operator.

fn sub(self, rhs: CSOPoint<N>) -> Vector<N>

Performs the - operation.

impl<N: Copy + RealField + Copy> Copy for CSOPoint<N>

impl<N: RealField + Copy> StructuralPartialEq for CSOPoint<N>