Crate repose_collision 

Deterministic, allocation-free capsule and sphere robot collision checking for copper-rs.

• CuRobotCollisionModel: robot link shapes (CuLinkShape) on joint frames, built with CuRobotCollisionModel::new and CuCollisionModelParams, or from RON via CuCollisionModelSpec.
• CuCollisionEnv: borrowed view of obstacles, attached shapes, and exclusions that every check takes; CuPlanningScene::collision_env provides one without copying.
• CuCollisionCheckTask: the CuTask wrapper, configured by CuCollisionCheckParams.

Example

use repose_collision::{CuCollisionEnv, CuCollisionReport, CuCollisionShape, CuSphere};
use repose_collision::igus_rebel_collision_model;
use repose_kinematics::igus_rebel_chain;
use cu29::units::si::angle::radian;
use cu29::units::si::f64::{Angle, Length};
use cu29::units::si::length::meter;

let chain = igus_rebel_chain();
let model = igus_rebel_collision_model();
let q_home = [Angle::new::<radian>(0.0).into(); 6];
let mut report = CuCollisionReport::<8>::default();
model.check_configuration(&chain, &q_home, &CuCollisionEnv::EMPTY, &mut report).unwrap();
assert!(report.is_collision_free());

let m = Length::new::<meter>;
let obstacles = [CuCollisionShape::Sphere(CuSphere::new([m(0.0), m(0.0), m(0.87)], m(0.08)).unwrap())];
model.check_configuration(&chain, &q_home, &CuCollisionEnv::new(&obstacles), &mut report).unwrap();
assert!(!report.is_collision_free());

Structs

CuAttachedShape

A collision shape rigidly attached to a robot frame or the base.

CuAttachedUpdate

Changes applied by CuPlanningScene::update_attached; unset parts are kept.

CuCapsule

3D capsule (swept sphere along line segment a -> b) with radius.

CuCollisionCheckParams

Node config of CuCollisionCheckTask.

CuCollisionCheckTask

Stateless CuTask evaluating self-collision, environment obstacles, and attached shapes in place.

CuCollisionContact

Single contact or clearance violation between a robot link and another link or obstacle.

CuCollisionEnv

Borrowed view of the collision environment: world obstacles, attached shapes, and exclusions.

CuCollisionModelParams

Parameters of a CuRobotCollisionModel.

CuCollisionReport

Fixed-capacity collision report populated in place (CuMsgPayload-compliant).

CuLinkShape

A robot collision shape and the frame it is expressed in.

CuObjectId

Strongly typed, stable object identifier for obstacles and attached shapes in a planning scene.

CuPlanningScene

Fixed-capacity, versioned planning scene storage (CuMsgPayload-compliant).

CuRobotCollisionModel

Fixed-capacity model for N movable frames and up to M collision shapes.

CuSceneExclusion

One excluded attached-shape pair, addressed by stable IDs where the scene owns them.

CuSceneExclusions

Fixed-capacity stable-ID exclusion set (CuMsgPayload-compliant).

CuSceneObstacle

An environment obstacle in world coordinates, as stored in a planning scene.

CuSceneRevision

Monotonically increasing revision counter tracking changes to the planning scene.

CuSphere

3D sphere primitive defined by a center point and radius.

Enums

CuCollisionModelSpec

Source of a robot collision model in RON: a preset name or an inline model.

CuCollisionShape

Convex collision shape primitive (Sphere or Capsule).

CuContactKind

Category of a detected collision or safety-margin violation.

CuSceneError

Errors that can occur during planning scene modifications and queries.

CuSceneExclusionPartner

Partner of an attached shape in a CuSceneExclusion.

Constants

DEFAULT_MAX_ATTACHED

Default attached shape capacity of CuPlanningScene and CuCollisionCheckTask.

DEFAULT_MAX_CONTACTS

Default contact capacity of CuCollisionCheckTask.

DEFAULT_MAX_EXCLUSIONS

Default capacity for stable-ID exclusions in CuSceneExclusions.

DEFAULT_MAX_OBSTACLES

Default obstacle capacity of CuPlanningScene and CuCollisionCheckTask.

Functions

capsule_capsule_signed_distance

Computes the exact signed surface-to-surface distance between two capsules.

capsule_sphere_signed_distance

Computes the exact signed surface-to-surface distance between a capsule and a sphere.

igus_rebel_collision_model

Returns the 6-link capsule/sphere collision model for the igus ReBeL 6-DOF cobot.

shape_signed_distance

Computes the exact signed surface-to-surface distance between any two CuCollisionShape primitives.

shapes_violate_margin

Returns true if the signed distance between a and b is strictly less than safety_margin.

sphere_sphere_signed_distance

Computes the exact signed surface-to-surface distance between two spheres.

transform_shape

Transforms a local CuCollisionShape by frame and writes the world-space shape into out_world.