Struct openrr_planner::JointPathPlanner

pub struct JointPathPlanner<N>
where
    N: RealField + Copy + SubsetOf<f64>,
{
    pub step_length: N,
    pub max_try: usize,
    pub num_smoothing: usize,
    /* private fields */
}

Collision Avoidance Path Planner

Fields

step_length: N

Unit length for searching

If the value is large, the path become sparse.

max_try: usize

Max num of RRT search loop

num_smoothing: usize

Num of path smoothing trials

Implementations

impl<N> JointPathPlanner<N>

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

pub fn new( reference_robot: Arc<Chain<N>>, robot_collision_detector: RobotCollisionDetector<N>, step_length: N, max_try: usize, num_smoothing: usize, ) -> Self

Create JointPathPlanner

pub fn plan( &self, using_joint_names: &[String], start_angles: &[N], goal_angles: &[N], objects: &Compound<N>, ) -> Result<Vec<Vec<N>>>

Plan the sequence of joint angles of using_joints

Arguments

• using_joints: part of collision_check_robot. the dof of the following angles must be same as this model.
• start_angles: initial joint angles of using_joints.
• goal_angles: goal joint angles of using_joints.
• objects: The collision between self.collision_check_robot and objects will be checked.

pub fn plan_avoid_self_collision( &self, using_joint_names: &[String], start_angles: &[N], goal_angles: &[N], ) -> Result<Vec<Vec<N>>>

Plan the sequence of joint angles of using_joints to avoid self collision.

Arguments

• using_joints: part of collision_check_robot. the dof of the following angles must be same as this model.
• start_angles: initial joint angles of using_joints.
• goal_angles: goal joint angles of using_joints.

pub fn sync_joint_positions_with_reference(&self)

Synchronize joint positions of the planning robot model with the reference robot

pub fn update_transforms(&self) -> Vec<Isometry3<N>>

Calculate the transforms of all of the links

pub fn joint_names(&self) -> Vec<String>

Get the names of the links

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

Get the robot model used for collision checking

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

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

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

Get names of self-colliding links