Struct CuSceneValidity 

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

Collision queries against one captured planning-scene snapshot.

Every query checks the robot against itself, the scene obstacles, and the scene’s attached shapes in one pass, honouring the captured stable-ID exclusions.

Implementations

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

pub fn new( chain: CuKinematicChain<N>, model: CuRobotCollisionModel<N, M>, resolution: CuJointResolution, ) -> Self

Creates a checker with an empty scene; resolution sets the segment sampling step.

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

The kinematic chain the checker evaluates.

pub const fn resolution(&self) -> CuJointResolution

Segment sampling resolution.

pub const fn scene_revision(&self) -> CuSceneRevision

Revision of the captured scene.

pub const fn exclusions(&self) -> &CuSceneExclusions<MAX_EXCLUSIONS>

Exclusions captured with the scene.

pub fn capture( &mut self, scene: &CuPlanningScene<MAX_OBSTACLES, MAX_ATTACHED_SHAPES>, exclusions: &CuSceneExclusions<MAX_EXCLUSIONS>, ) -> bool

Captures a scene snapshot for the next job. Returns false (and treats every configuration as blocked) when the resolution, the scene’s attached shapes, or the stable-ID exclusions are invalid for this robot.

pub fn is_configuration_free(&self, q: &[CuJointPosition; N]) -> bool

true when q is within joint limits and free of self, environment, and attached-object collisions.

pub fn is_segment_free( &self, a: &[CuJointPosition; N], b: &[CuJointPosition; N], ) -> bool

true when the joint-space line from a to b is free at the configured resolution (discrete sampling, not swept volumes).

pub fn clearance(&self, q: &[CuJointPosition; N]) -> Option<f64>

Smallest signed surface distance in meters between the robot (and attached objects) and itself or the scene; negative means penetration. None when q cannot be evaluated.

Trait Implementations

impl<const N: usize, const M: usize> Clone for CuSceneValidity<N, M>

fn clone(&self) -> CuSceneValidity<N, M>

Returns a duplicate of the value.

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

Performs copy-assignment from source.