Struct SafetyDistances 

pub struct SafetyDistances {
    pub to_environment: f32,
    pub to_robot_default: f32,
    pub special_distances: HashMap<(u16, u16), f32>,
    pub mode: CheckMode,
}

Defines tolerance bounds, how far it should be between any part of the robot, or environment object, or any two parts of the robot. As some robot joints may come very close together, they may require specialized distances.

Fields

to_environment: f32

Allowed distance between robot and environment objects.

to_robot_default: f32

Default allowed distance between any two parts of the robot.

special_distances: HashMap<(u16, u16), f32>

Special cases where different (normally shorter) distance is allowed. Some parts of the robot naturally come very close even if not adjacent, and these need the shorter distance to be specified. Specify NEVER_COLLIDES as a distance for parts that cannot collide. Initialize it like this:

   use std::collections::HashMap;
   use rs_opw_kinematics::collisions::{SafetyDistances, NEVER_COLLIDES};
   use rs_opw_kinematics::kinematic_traits::{J1, J2, J3, J4, J5, J6, J_BASE, J_TOOL};

   // Always specify less numbered joints first, then
   // the tool, then environment objects.
    SafetyDistances::distances(&[
      // Due construction of this robot, these joints are very close, so
      // special rules are needed for them.
      ((J2, J_BASE), NEVER_COLLIDES), // base and J2 cannot collide
      ((J3, J_BASE), NEVER_COLLIDES), // base and J3 cannot collide
      ((J2, J4), NEVER_COLLIDES),
      ((J3, J4), NEVER_COLLIDES),
      ((J4, J_TOOL), 0.02_f32), // reduce distance requirement to 2 cm.
      ((J4, J6), 0.02_f32),     // reduce distance requirement to 2 cm.
      ]);

mode: CheckMode

Specifies if either first collision only is required, or all must be checked, or off, or “touch only” mode

Implementations

impl SafetyDistances

pub fn distances(pairs: &[((usize, usize), f32)]) -> HashMap<(u16, u16), f32>

pub fn min_distance(&self, from: u16, to: u16) -> &f32

Returns minimal allowed distance by the specified objects. The order of objects is not important.

pub fn standard(mode: CheckMode) -> SafetyDistances

Creates the standard instance of safety distances that always uses touch check only (no safety margins) but can also disable collision checks completely if you pass CheckMode::NoCheck as parameter.

Trait Implementations

impl Clone for SafetyDistances

fn clone(&self) -> SafetyDistances

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SafetyDistances

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

Formats the value using the given formatter.