Struct openrr_planner::collision::RobotCollisionDetector

pub struct RobotCollisionDetector<N>
where
    N: RealField + Copy + SubsetOf<f64>,
{
    pub robot: Chain<N>,
    pub collision_detector: CollisionDetector<N>,
    pub self_collision_pairs: Vec<(String, String)>,
}

Fields

robot: Chain<N>

Robot model instance used for collision detection

collision_detector: CollisionDetector<N>

Collision detector

self_collision_pairs: Vec<(String, String)>

Optional self collision check node names

Implementations

impl<N> RobotCollisionDetector<N>

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

CollisionDetector holding robot information

pub fn new( robot: Chain<N>, collision_detector: CollisionDetector<N>, self_collision_pairs: Vec<(String, String)>, ) -> Self

pub fn detect_env<'a>( &'a self, target_shape: &'a dyn Shape<N>, target_pose: &'a Isometry3<N>, ) -> EnvCollisionNames<'a, 'a, N>

Detects collisions of the robot with an environmental object and returns names of the colliding links(joints)

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

pub fn detect_self(&self) -> SelfCollisionPairs<'_, N>

Detects self collisions and returns name pairs of the self-colliding links(joints)

pub fn env_collision_link_names(&self, objects: &Compound<N>) -> Vec<String>

Gets names of links colliding with environmental objects objects: environmental objects

pub fn self_collision_link_pairs(&self) -> Vec<(String, String)>

Gets names of self-colliding links

pub fn is_env_collision_detected(&self, objects: &Compound<N>) -> bool

Returns whether any collision of the robot with environmental objects is detected or not objects: environmental objects

pub fn is_self_collision_detected(&self) -> bool

Returns whether any self collision of the robot is detected or not

pub fn is_collision_detected(&self, objects: &Compound<N>) -> bool

Returns whether any collision is detected or not objects: environmental objects