Struct CuSceneExclusions 

pub struct CuSceneExclusions<const MAX_EXCLUSIONS: usize = DEFAULT_MAX_EXCLUSIONS> { /* private fields */ }

Fixed-capacity stable-ID exclusion set (CuMsgPayload-compliant).

Published alongside a CuPlanningScene snapshot and validated against it on every check, so exclusions always bind to the current snapshot.

Implementations

impl<const MAX_EXCLUSIONS: usize> CuSceneExclusions<MAX_EXCLUSIONS>

pub const fn new() -> Self

Creates an empty exclusion set.

pub const fn len(&self) -> usize

Returns the number of active exclusions.

pub const fn is_empty(&self) -> bool

Returns true if no exclusions are active.

pub const fn capacity(&self) -> usize

Returns the maximum number of exclusions.

pub fn as_slice(&self) -> &[CuSceneExclusion]

Borrows the active exclusions.

pub fn add(&mut self, exclusion: CuSceneExclusion) -> CuResult<()>

Appends an exclusion if capacity permits.

pub fn clear(&mut self)

Removes all exclusions in place.

pub fn validate<const MAX_OBS: usize, const MAX_ATT: usize>( &self, scene: &CuPlanningScene<MAX_OBS, MAX_ATT>, robot_shape_count: usize, ) -> CuResult<()>

Checks every entry against scene and a robot model with robot_shape_count shapes.

Unassigned or unknown IDs, self-references, and out-of-range robot shape indices fail. Checks perform the same validation; this lets a caller reject a snapshot up front.

Trait Implementations

impl<'de, C, const MAX_EXCLUSIONS: usize> BorrowDecode<'de, C> for CuSceneExclusions<MAX_EXCLUSIONS>

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_EXCLUSIONS: usize> Clone for CuSceneExclusions<MAX_EXCLUSIONS>

fn clone(&self) -> CuSceneExclusions<MAX_EXCLUSIONS>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const MAX_EXCLUSIONS: usize> Debug for CuSceneExclusions<MAX_EXCLUSIONS>

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

Formats the value using the given formatter.

impl<C, const MAX_EXCLUSIONS: usize> Decode<C> for CuSceneExclusions<MAX_EXCLUSIONS>

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

Attempt to decode this type with the given Decode.

impl<const MAX_EXCLUSIONS: usize> Default for CuSceneExclusions<MAX_EXCLUSIONS>

fn default() -> Self

Returns the “default value” for a type.

impl<'de, const MAX_EXCLUSIONS: usize> Deserialize<'de> for CuSceneExclusions<MAX_EXCLUSIONS>

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<const MAX_EXCLUSIONS: usize> Encode for CuSceneExclusions<MAX_EXCLUSIONS>

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

Encode a given type.

impl<const MAX_EXCLUSIONS: usize> PartialEq for CuSceneExclusions<MAX_EXCLUSIONS>

fn eq(&self, other: &CuSceneExclusions<MAX_EXCLUSIONS>) -> bool

Equality operator ==.

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

Inequality operator !=.

impl<const MAX_EXCLUSIONS: usize> Serialize for CuSceneExclusions<MAX_EXCLUSIONS>

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_EXCLUSIONS: usize> StructuralPartialEq for CuSceneExclusions<MAX_EXCLUSIONS>

impl<const MAX_EXCLUSIONS: usize> TypePath for CuSceneExclusions<MAX_EXCLUSIONS>

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>