Struct CuCollisionModelParams 

pub struct CuCollisionModelParams {
    pub safety_margin: Length,
    pub skip_adjacent_links: bool,
}

Parameters of a CuRobotCollisionModel.

{"safety_margin": 0.005, "skip_adjacent_links": true}

Fields

safety_margin: Length

Minimum surface distance for a pair to count as collision-free (finite, >= 0).

skip_adjacent_links: bool

Disable self-collision pairs between shapes on adjacent joint frames (Some(i) and Some(i ± 1)). Shapes on the same frame are never checked against each other regardless of this flag.

Implementations

impl CuCollisionModelParams

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

Checks that the safety margin is finite and non-negative.

Trait Implementations

impl Clone for CuCollisionModelParams

fn clone(&self) -> CuCollisionModelParams

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuCollisionModelParams

impl Debug for CuCollisionModelParams

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

Formats the value using the given formatter.

impl Default for CuCollisionModelParams

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuCollisionModelParams

where CuCollisionModelParams: Default,

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for CuCollisionModelParams

fn eq(&self, other: &CuCollisionModelParams) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl Serialize for CuCollisionModelParams

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for CuCollisionModelParams

impl TypePath for CuCollisionModelParams

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>