Struct ReachabilityMap 

pub struct ReachabilityMap {
    pub origin: [f64; 3],
    pub voxel_size: f64,
    pub dims: [usize; 3],
    pub counts: Vec<u32>,
}

A coarse voxel reachability map for a robot arm.

Populated by Monte-Carlo workspace sampling.

Fields

origin: [f64; 3]

World-space origin of the voxel grid.

voxel_size: f64

Size of each voxel in metres.

dims: [usize; 3]

Number of voxels along each axis.

counts: Vec<u32>

Flat array of occupancy counts.

Implementations

impl ReachabilityMap

pub fn new(origin: [f64; 3], voxel_size: f64, dims: [usize; 3]) -> Self

Creates an empty reachability map.

pub fn world_to_voxel(&self, p: [f64; 3]) -> Option<[usize; 3]>

Converts a world position to a voxel index, returning None if outside.

pub fn add_point(&mut self, p: [f64; 3])

Increments the occupancy count for the voxel at world position p.

pub fn populate(&mut self, arm: &RobotArm, n_samples: usize)

Populates the map from a Monte-Carlo workspace sample.

pub fn reachable_count(&self) -> usize

Returns the total number of non-zero voxels (reachable cells).

Trait Implementations

impl Clone for ReachabilityMap

fn clone(&self) -> ReachabilityMap

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ReachabilityMap

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

Formats the value using the given formatter.