Module bridge 

Core robotics types, converters, spatial indexing, and perception pipeline.

This module provides the foundational types that all other robotics modules build upon: point clouds, robot state, scene graphs, poses, and trajectories.

Re-exports

pub use config::BridgeConfig;

pub use config::DistanceMetric;

pub use converters::ConversionError;

pub use gaussian::GaussianConfig;

pub use gaussian::GaussianSplat;

pub use gaussian::GaussianSplatCloud;

pub use indexing::IndexError;

pub use indexing::SpatialIndex;

pub use pipeline::PerceptionResult;

pub use pipeline::PipelineConfig;

pub use pipeline::PipelineStats;

pub use search::AlertSeverity;

pub use search::Neighbor;

pub use search::ObstacleAlert;

pub use search::SearchResult;

Modules

config

Bridge configuration: distance metrics and tuning knobs.

converters

Type conversion functions between robotics domain types and flat vector representations suitable for indexing, serialization, or ML inference.

gaussian

Gaussian splatting types and point-cloud-to-Gaussian conversion.

indexing

Flat spatial index with brute-force nearest-neighbour and radius search.

pipeline

Lightweight perception pipeline that ingests SensorFrames, maintains a SpatialIndex, detects obstacles, and predicts linear trajectories.

search

Search result types used by the bridge and perception layers.

Structs

Obstacle

An obstacle detected by the perception pipeline.

OccupancyGrid

A 2-D occupancy grid map.

Point3D

3D point used in point clouds and spatial operations.

PointCloud

A collection of 3D points from a sensor (LiDAR, depth camera, etc.).

Pose

A 6-DOF pose: position + orientation.

Quaternion

A unit quaternion representing a 3-D rotation.

RobotState

Robot state: position, velocity, acceleration, timestamp.

SceneEdge

An edge in a scene graph connecting two objects.

SceneGraph

A scene graph representing spatial relationships between objects.

SceneObject

An object detected in a scene with bounding information.

SensorFrame

A synchronised bundle of sensor observations captured at one instant.

Trajectory

A predicted trajectory consisting of waypoints.

Enums

BridgeError

Bridge error type.

Type Aliases

Result