Struct CuCollisionCheckParams 

pub struct CuCollisionCheckParams<const N: usize, const M: usize = N> {
    pub chain: Option<CuChainSpec<N>>,
    pub collision_model: Option<CuCollisionModelSpec<M>>,
}

Node config of CuCollisionCheckTask.

config: {"chain": "igus_rebel", "collision_model": "igus_rebel"}

Both keys are required. chain is a CuChainSpec and collision_model a CuCollisionModelSpec (preset name or inline model).

Fields

chain: Option<CuChainSpec<N>>

Required robot chain: a preset name ("igus_rebel") or an inline chain.

collision_model: Option<CuCollisionModelSpec<M>>

Required collision model: a preset name ("igus_rebel") or an inline model.

Implementations

impl<const N: usize, const M: usize> CuCollisionCheckParams<N, M>

pub fn resolve_chain(&self) -> CuResult<CuKinematicChain<N>>

Resolves and validates the configured chain.

pub fn resolve_collision_model(&self) -> CuResult<CuRobotCollisionModel<N, M>>

Resolves and validates the configured collision model.

pub fn validate(&self) -> CuResult<()>

Checks that both the chain and the collision model are present and valid.

Trait Implementations

impl<const N: usize, const M: usize> Clone for CuCollisionCheckParams<N, M>

fn clone(&self) -> CuCollisionCheckParams<N, M>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize, const M: usize> Debug for CuCollisionCheckParams<N, M>

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

Formats the value using the given formatter.

impl<const N: usize, const M: usize> Default for CuCollisionCheckParams<N, M>

fn default() -> Self

Returns the “default value” for a type.

impl<'de, const N: usize, const M: usize> Deserialize<'de> for CuCollisionCheckParams<N, M>

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<const N: usize, const M: usize> Serialize for CuCollisionCheckParams<N, M>

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl<const N: usize, const M: usize> TypePath for CuCollisionCheckParams<N, M>

fn type_path() -> &'static str

fn short_type_path() -> &'static str

fn type_ident() -> Option<&'static str>

fn crate_name() -> Option<&'static str>

fn module_path() -> Option<&'static str>