Struct CuPlanningScene 

pub struct CuPlanningScene<const MAX_OBSTACLES: usize = DEFAULT_MAX_OBSTACLES, const MAX_ATTACHED: usize = DEFAULT_MAX_ATTACHED> { /* private fields */ }

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

Holds environment obstacles in world frame and attached shapes in robot frames. Every mutation is transactional and increments CuSceneRevision on success. collision_env borrows the scene as a zero-copy CuCollisionEnv.

Implementations

impl<const MAX_OBSTACLES: usize, const MAX_ATTACHED: usize> CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>

pub const OBSTACLE_CAPACITY: usize = MAX_OBSTACLES

Maximum number of environment obstacles.

pub const ATTACHED_CAPACITY: usize = MAX_ATTACHED

Maximum number of attached shapes.

pub fn new() -> Self

Creates an empty planning scene initialized at CuSceneRevision::INITIAL.

pub const fn revision(&self) -> CuSceneRevision

Returns the current scene revision.

pub const fn is_empty(&self) -> bool

Returns true if the scene has neither obstacles nor attached shapes.

pub fn obstacle_shapes(&self) -> &[CuCollisionShape]

Active obstacle shapes in world coordinates; the count is obstacle_shapes().len().

pub fn obstacle_ids(&self) -> &[CuObjectId]

Stable IDs of the active obstacles, parallel to obstacle_shapes.

pub fn obstacles(&self) -> impl Iterator<Item = CuSceneObstacle> + '_

Iterates over the active obstacles with their IDs.

pub fn attached_shapes(&self) -> &[CuAttachedShape]

Active attached shapes; the count is attached_shapes().len().

pub fn obstacle(&self, id: CuObjectId) -> Option<&CuCollisionShape>

Looks up an obstacle shape by its typed object ID.

pub fn attached_shape(&self, id: CuObjectId) -> Option<&CuAttachedShape>

Looks up an attached shape by its typed object ID.

pub fn contains(&self, id: CuObjectId) -> bool

Returns true if the specified object identifier is present in the scene.

pub fn collision_env(&self) -> CuCollisionEnv<'_>

Zero-copy view of the obstacles (with IDs) and attached shapes for collision checks. Add exclusions with CuCollisionEnv::with_exclusions.

pub fn add_obstacle( &mut self, shape: CuCollisionShape, id: Option<CuObjectId>, ) -> CuResult<CuObjectId>

Adds a world-frame obstacle and returns its ID.

With id = None a fresh unique ID is assigned; with Some(id) that ID is used and must be valid and unused. Fails on capacity, invalid geometry, invalid or duplicate ID, or revision exhaustion; on failure, state is unmodified.

pub fn update_obstacle( &mut self, id: CuObjectId, shape: CuCollisionShape, ) -> CuResult<()>

Replaces the geometry of an existing obstacle. On failure, state is unmodified.

pub fn remove_obstacle(&mut self, id: CuObjectId) -> CuResult<CuCollisionShape>

Removes an obstacle, preserving the order of the others. On failure, state is unmodified.

pub fn add_attached( &mut self, frame: Option<usize>, shape: CuCollisionShape, id: Option<CuObjectId>, ) -> CuResult<CuObjectId>

Adds a shape attached to frame (None = base frame) and returns its ID.

ID assignment follows add_obstacle. On failure, state is unmodified.

pub fn update_attached( &mut self, id: CuObjectId, update: CuAttachedUpdate, ) -> CuResult<()>

Changes the frame and/or geometry of an attached shape. On failure, state is unmodified.

pub fn remove_attached(&mut self, id: CuObjectId) -> CuResult<CuAttachedShape>

Removes an attached shape, preserving the order of the others. On failure, state is unmodified.

pub fn attach( &mut self, id: CuObjectId, frame: Option<usize>, local_shape: CuCollisionShape, ) -> CuResult<()>

Turns an existing obstacle into a shape attached to frame (e.g. object grasp), keeping its CuObjectId. local_shape is the geometry in frame coordinates.

Fails if the obstacle is not found, geometry is invalid, attached storage is full, or the revision is exhausted. On failure, state is unmodified.

pub fn detach( &mut self, id: CuObjectId, world_shape: CuCollisionShape, ) -> CuResult<()>

Turns an attached shape into a world-frame obstacle (e.g. object release), keeping its CuObjectId.

Fails if the attached shape is not found, geometry is invalid, obstacle storage is full, or the revision is exhausted. On failure, state is unmodified.

pub fn clear(&mut self) -> CuResult<()>

Clears all obstacles and attached shapes, advancing the revision if the scene was not empty. On failure (revision exhaustion), state is unmodified.

pub fn clear_obstacles(&mut self) -> CuResult<()>

Clears all obstacles, advancing the revision if any were present. On failure, state is unmodified.

pub fn clear_attached(&mut self) -> CuResult<()>

Clears all attached shapes, advancing the revision if any were present. On failure, state is unmodified.

pub fn transaction<F, R>(&mut self, f: F) -> CuResult<R>

where F: FnOnce(&mut Self) -> CuResult<R>,

Executes a transaction block on the planning scene.

If the closure f succeeds, modifications are committed and the revision advances once if state was modified without advancing it. If f returns an error or revision exhaustion occurs, the scene rolls back to its pre-transaction state.

pub fn world_attached_shapes<const N: usize, const MAX_OUT: usize>( &self, link_frames: &[Transform3D<f64>; N], out_shapes: &mut [CuCollisionShape; MAX_OUT], ) -> CuResult<usize>

Writes world-space copies of the active attached shapes for link_frames into out_shapes and returns how many were written.

Validates capacity, frame indices, transforms, and resulting geometry first: on error, out_shapes is unmodified.

Trait Implementations

impl<'de, C, const MAX_OBSTACLES: usize, const MAX_ATTACHED: usize> BorrowDecode<'de, C> for CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>

fn borrow_decode<D: BorrowDecoder<'de, Context = C>>( decoder: &mut D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given BorrowDecode.

impl<const MAX_OBSTACLES: usize, const MAX_ATTACHED: usize> Clone for CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>

fn clone(&self) -> CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const MAX_OBSTACLES: usize, const MAX_ATTACHED: usize> Debug for CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>

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

Formats the value using the given formatter.

impl<C, const MAX_OBSTACLES: usize, const MAX_ATTACHED: usize> Decode<C> for CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>

fn decode<D: Decoder<Context = C>>(decoder: &mut D) -> Result<Self, DecodeError>

Attempt to decode this type with the given Decode.

impl<const MAX_OBSTACLES: usize, const MAX_ATTACHED: usize> Default for CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>

fn default() -> Self

Returns the “default value” for a type.

impl<'de, const MAX_OBSTACLES: usize, const MAX_ATTACHED: usize> Deserialize<'de> for CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>

where D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<const MAX_OBSTACLES: usize, const MAX_ATTACHED: usize> Encode for CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>

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

Encode a given type.

impl<const MAX_OBSTACLES: usize, const MAX_ATTACHED: usize> PartialEq for CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>

fn eq(&self, other: &CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>) -> bool

Equality operator ==.

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

Inequality operator !=.

impl<const MAX_OBSTACLES: usize, const MAX_ATTACHED: usize> Serialize for CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>

where S: Serializer,

Serialize this value into the given Serde serializer.

impl<const MAX_OBSTACLES: usize, const MAX_ATTACHED: usize> StructuralPartialEq for CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>

impl<const MAX_OBSTACLES: usize, const MAX_ATTACHED: usize> TypePath for CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED>

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>