Struct openrr_planner::collision::CollisionDetector

pub struct CollisionDetector<T>
where
    T: RealField + Copy,
{
    pub prediction: T,
    /* private fields */
}

Collision detector

Fields

prediction: T

margin length for collision detection

Implementations

impl<T> CollisionDetector<T>

where T: RealField + Copy + SubsetOf<f64>,

pub fn new( name_collision_model_map: HashMap<String, Vec<(ShapeHandle<T>, Isometry3<T>)>>, prediction: T, ) -> Self

Create CollisionDetector from HashMap

pub fn from_urdf_robot(urdf_robot: &Robot, prediction: T) -> Self

Create CollisionDetector from urdf_rs::Robot

pub fn from_urdf_robot_with_base_dir( urdf_robot: &Robot, base_dir: Option<&Path>, prediction: T, ) -> Self

Create CollisionDetector from urdf_rs::Robot with base_dir support

base_dir: mesh files are loaded from this dir if the path does not start with “package://”

pub fn from_robot(robot: &Chain<T>, prediction: T) -> Self

Create CollisionDetector from k::Chain

pub fn detect_env<'a>( &'a self, robot: &'a Chain<T>, target_shape: &'a dyn Shape<T>, target_pose: &'a Isometry3<T>, ) -> EnvCollisionNames<'a, 'a, T>

Detects collisions of a robot with an environmental object and returns the names of the link(joint) names

robot: robot model target_shape: shape of the environmental object target_pose: pose of the environmental object

pub fn detect_self<'a>( &'a self, robot: &'a Chain<T>, self_collision_pairs: &'a [(String, String)], ) -> SelfCollisionPairs<'a, T>

Detects self collisions and returns the names of the link(joint) names

robot: robot model self_collision_pairs: pairs of the names of the link(joint)

Trait Implementations

impl<T> Clone for CollisionDetector<T>

where T: RealField + Copy + Clone,

fn clone(&self) -> CollisionDetector<T>

Returns a copy of the value.

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

Performs copy-assignment from source.