Struct CuCollisionCheckTask 

pub struct CuCollisionCheckTask<const N: usize, const M: usize = N, const MAX_OBS: usize = DEFAULT_MAX_OBSTACLES, const MAX_ATTACHED: usize = DEFAULT_MAX_ATTACHED, const MAX_CONTACTS: usize = DEFAULT_MAX_CONTACTS, const MAX_EXCL: usize = DEFAULT_MAX_EXCLUSIONS> { /* private fields */ }

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

Node config: CuCollisionCheckParams. Inputs: joint positions, planning scene, exclusions.

Implementations

impl<const N: usize, const M: usize, const MAX_OBS: usize, const MAX_ATTACHED: usize, const MAX_CONTACTS: usize, const MAX_EXCL: usize> CuCollisionCheckTask<N, M, MAX_OBS, MAX_ATTACHED, MAX_CONTACTS, MAX_EXCL>

pub fn from_params( chain: CuKinematicChain<N>, model: CuRobotCollisionModel<N, M>, ) -> CuResult<Self>

Creates a collision check task from a kinematic chain and robot collision model.

pub const fn chain(&self) -> &CuKinematicChain<N>

Borrows the kinematic chain.

pub const fn model(&self) -> &CuRobotCollisionModel<N, M>

Borrows the robot collision model.

pub fn check_configuration( &self, q: &[CuJointPosition; N], scene: Option<&CuPlanningScene<MAX_OBS, MAX_ATTACHED>>, exclusions: Option<&CuSceneExclusions<MAX_EXCL>>, out_report: &mut CuCollisionReport<MAX_CONTACTS>, ) -> CuResult<()>

Checks self-collision, environment obstacles, and attached shapes for configuration q against an optional planning scene snapshot, populating out_report in place.

Stable-ID exclusions are validated against scene; invalid references, or non-empty exclusions without a scene, fail the check.

Trait Implementations

impl<const N: usize, const M: usize, const MAX_OBS: usize, const MAX_ATTACHED: usize, const MAX_CONTACTS: usize, const MAX_EXCL: usize> CuTask for CuCollisionCheckTask<N, M, MAX_OBS, MAX_ATTACHED, MAX_CONTACTS, MAX_EXCL>

type Resources<'r> = ()

Resources required by the task.

type Input<'m> = (&'m CuStampedData<CuJointPositionsPayload<N>, CuMsgMetadata>, &'m CuStampedData<CuPlanningScene<MAX_OBS, MAX_ATTACHED>, CuMsgMetadata>, &'m CuStampedData<CuSceneExclusions<MAX_EXCL>, CuMsgMetadata>)

type Output<'m> = CuStampedData<CuCollisionReport<MAX_CONTACTS>, CuMsgMetadata>

fn new( cfg: Option<&ComponentConfig>, _res: Self::Resources<'_>, ) -> CuResult<Self>

where Self: Sized,

Here you need to initialize everything your task will need for the duration of its lifetime. The config allows you to access the configuration of the task.

fn process<'i, 'o>( &mut self, _ctx: &CuContext, input: &Self::Input<'i>, output: &mut Self::Output<'o>, ) -> CuResult<()>

Process is the most critical execution of the task. The goal will be to produce the output message as soon as possible. Use preprocess to prepare the task to make this method as short as possible.

fn register_debug_state_types(registry: &mut TypeRegistry)

where Self: Sized + GetTypeRegistration,

Registers the reflected type used as this task’s debug-state contract.

fn debug_state_type_path() -> &'static str

where Self: Sized + TypePath,

Returns the reflected type path used as this task’s debug-state schema.

fn with_debug_state<R>( &self, f: impl FnOnce(&(dyn Reflect + 'static)) -> R, ) -> R

where Self: Sized,

Borrows this task’s current debug-state view.

fn start(&mut self, _ctx: &CuContext) -> Result<(), CuError>

Start is called between the creation of the task and the first call to pre/process.

fn preprocess(&mut self, _ctx: &CuContext) -> Result<(), CuError>

This is a method called by the runtime before “process”. This is a kind of best effort, as soon as possible call to give a chance for the task to do some work before to prepare to make “process” as short as possible.

fn postprocess(&mut self, _ctx: &CuContext) -> Result<(), CuError>

This is a method called by the runtime after “process”. It is best effort a chance for the task to update some state after process is out of the way. It can be use for example to maintain statistics etc. that are not time-critical for the robot.

fn stop(&mut self, _ctx: &CuContext) -> Result<(), CuError>

Called to stop the task. It signals that the *process method won’t be called until start is called again.

impl<const N: usize, const M: usize, const MAX_OBS: usize, const MAX_ATTACHED: usize, const MAX_CONTACTS: usize, const MAX_EXCL: usize> Freezable for CuCollisionCheckTask<N, M, MAX_OBS, MAX_ATTACHED, MAX_CONTACTS, MAX_EXCL>

fn freeze<E>(&self, encoder: &mut E) -> Result<(), EncodeError>

where E: Encoder,

This method is called by the framework when it wants to save the task state. The default implementation is to encode nothing (stateless). If you have a state, you need to implement this method.

fn thaw<D>(&mut self, _decoder: &mut D) -> Result<(), DecodeError>

where D: Decoder,

This method is called by the framework when it wants to restore the task to a specific state. Here it is similar to Decode but the framework will give you a new instance of the task (the new method will be called)

impl<const N: usize, const M: usize, const MAX_OBS: usize, const MAX_ATTACHED: usize, const MAX_CONTACTS: usize, const MAX_EXCL: usize> TypePath for CuCollisionCheckTask<N, M, MAX_OBS, MAX_ATTACHED, MAX_CONTACTS, MAX_EXCL>

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>