Struct CuRobotCollisionModel 

pub struct CuRobotCollisionModel<const N: usize, const M: usize = N> { /* private fields */ }

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

Each shape is a CuLinkShape on a joint frame or the base. Shape indices identify contacts and collision pairs; several shapes may share a frame.

Implementations

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

pub fn new( shapes: &[CuLinkShape], params: CuCollisionModelParams, ) -> CuResult<Self>

Creates a model from up to M link shapes.

Self-collision is checked between every pair of shapes on different frames, except adjacent joint frames when params.skip_adjacent_links is set. Use set_pair_enabled for further adjustments.

Fails if more than M shapes are given, a frame index is >= N, a shape has invalid geometry, or the params are invalid.

pub const fn shape_count(&self) -> usize

Number of active collision shapes.

pub fn link_shapes(&self) -> &[CuLinkShape]

Borrows the active link shapes.

pub const fn safety_margin(&self) -> Length64

Returns the configured safety margin.

pub fn set_safety_margin(&mut self, safety_margin: Length64) -> CuResult<()>

Sets the safety margin required for a pair to be considered collision-free.

pub fn set_pair_enabled( &mut self, link_a: usize, link_b: usize, enabled: bool, ) -> CuResult<()>

Enables or disables self-collision checking between two shape indices.

pub const fn is_pair_enabled(&self, link_a: usize, link_b: usize) -> bool

Returns true if self-collision checking is enabled between link_a and link_b.

pub fn world_link_shapes( &self, link_frames: &[Transform3D<f64>; N], out_shapes: &mut [CuCollisionShape; M], )

Transforms the active link shapes into world coordinates in place using link_frames. Only the first shape_count entries of out_shapes are written.

pub fn check_frames<const MAX_CONTACTS: usize>( &self, link_frames: &[Transform3D<f64>; N], env: &CuCollisionEnv<'_>, out_report: &mut CuCollisionReport<MAX_CONTACTS>, ) -> CuResult<()>

Evaluates self-collision and env (obstacles, attached shapes, exclusions) for precomputed link_frames, writing contacts and the minimum signed distance into out_report (cleared first).

Fails, leaving out_report unmodified, if env is invalid for this model (see CuCollisionEnv).

pub fn check_configuration<const MAX_CONTACTS: usize>( &self, chain: &CuKinematicChain<N>, q: &[CuJointPosition; N], env: &CuCollisionEnv<'_>, out_report: &mut CuCollisionReport<MAX_CONTACTS>, ) -> CuResult<()>

Runs forward kinematics for q and calls check_frames.

pub fn is_configuration_collision_free( &self, chain: &CuKinematicChain<N>, q: &[CuJointPosition; N], env: &CuCollisionEnv<'_>, ) -> CuResult<bool>

Early-exit predicate: true if q is within joint limits and no checked pair (self, environment, attached) violates the safety margin.

pub fn is_segment_collision_free( &self, chain: &CuKinematicChain<N>, q_start: &[CuJointPosition; N], q_end: &[CuJointPosition; N], max_step: impl Into<CuJointResolution>, env: &CuCollisionEnv<'_>, ) -> CuResult<bool>

Checks whether the linearly interpolated joint-space segment from q_start to q_end is collision-free at the given angular and linear sampling resolution. This is discrete sampling, not swept-volume continuous collision detection.

Trait Implementations

impl<'de, C, const N: usize, const M: usize> BorrowDecode<'de, C> for CuRobotCollisionModel<N, M>

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 N: usize, const M: usize> Clone for CuRobotCollisionModel<N, M>

fn clone(&self) -> CuRobotCollisionModel<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> Copy for CuRobotCollisionModel<N, M>

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

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

Formats the value using the given formatter.

impl<C, const N: usize, const M: usize> Decode<C> for CuRobotCollisionModel<N, M>

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

Attempt to decode this type with the given Decode.

impl<const N: usize, const M: usize> Encode for CuRobotCollisionModel<N, M>

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

Encode a given type.

impl<const N: usize, const M: usize> PartialEq for CuRobotCollisionModel<N, M>

fn eq(&self, other: &CuRobotCollisionModel<N, M>) -> bool

Equality operator ==.

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

Inequality operator !=.

impl<const N: usize, const M: usize> StructuralPartialEq for CuRobotCollisionModel<N, M>

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