Struct CuRobotDescription 

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

A startup robot description for a single base-to-tip serial chain. N counts movable joints; M bounds collision shapes, including fixed and base links. Names and semantic state storage allocate only during import and lookup.

The runtime models are read through chain and collision_model (both Copy), or taken with into_parts.

Implementations

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

pub fn from_urdf(xml: &str, import: CuUrdfImport<'_>) -> CuResult<Self>

Imports an explicit URDF base-to-tip path. Other branches are not part of this model. Rejects unsupported selected joints and geometry rather than silently omitting them.

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

Serial kinematic chain from the base link to the tip link.

pub const fn collision_model(&self) -> &CuRobotCollisionModel<N, M>

Collision model (including SRDF-disabled pairs once applied).

pub fn into_parts(self) -> (CuKinematicChain<N>, CuRobotCollisionModel<N, M>)

Consumes the description and returns the runtime chain and collision model.

pub fn joint_names(&self) -> &[String; N]

Joint names in the exact order used by runtime payloads.

pub fn collision_links(&self) -> &[String]

URDF link name for each active collision shape, in contact-index order.

pub fn from_urdf_srdf( urdf: &str, srdf: &str, import: CuSrdfImport<'_>, ) -> CuResult<Self>

Selects an SRDF group containing exactly one serial base-to-tip chain.

pub fn apply_srdf(&mut self, xml: &str, group: &str) -> CuResult<()>

Applies disabled collision pairs and complete named joint states for the selected serial group. Unsupported selected-group semantics fail explicitly; other groups are not imported.

pub fn write_named_state( &self, name: &str, out: &mut [CuJointPosition; N], ) -> CuResult<()>

Copies a startup SRDF state into caller-provided typed joint storage.

Trait Implementations

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

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

Formats the value using the given formatter.