Struct openrr_planner::collision::SelfCollisionChecker

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pub struct SelfCollisionChecker<N>where
    N: RealField + Copy + SubsetOf<f64>,
{ /* private fields */ }

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impl<N> SelfCollisionChecker<N>
where N: RealField + SubsetOf<f64> + Float,

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pub fn new( reference_robot: Arc<Chain<N>>, robot_collision_detector: RobotCollisionDetector<N>, time_interpolate_rate: N, ) -> Self

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pub fn check_joint_positions( &self, current: &[N], positions: &[N], duration: Duration, ) -> Result<()>

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pub fn check_partial_joint_positions( &self, using_joint_names: &[String], current: &[N], positions: &[N], duration: Duration, ) -> Result<()>

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pub fn check_joint_trajectory( &self, trajectory: &[TrajectoryPoint<N>], ) -> Result<()>

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pub fn check_partial_joint_trajectory( &self, using_joint_names: &[String], trajectory: &[TrajectoryPoint<N>], ) -> Result<()>

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pub fn collision_check_robot(&self) -> &Chain<N>

Get the robot model used for collision checking

Auto Trait Implementations§

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impl<N> !UnwindSafe for SelfCollisionChecker<N>

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