Struct JointSpaceGrid 

pub struct JointSpaceGrid {
    pub size: usize,
    pub data: Vec<bool>,
}

Occupancy grid for a 2-joint arm in joint space.

Each cell (i, j) represents a pair of joint angles and is marked as occupied (true) if the arm configuration collides with any obstacle.

Fields

size: usize

Grid size along each axis.

data: Vec<bool>

Flattened occupancy data (row-major): grid[i * size + j].

Implementations

impl JointSpaceGrid

pub fn new(size: usize) -> Self

Creates a new empty grid.

pub fn get(&self, i: usize, j: usize) -> bool

Returns the occupancy value at cell (i, j).

pub fn set(&mut self, i: usize, j: usize, val: bool)

Sets the occupancy value at cell (i, j).

pub fn index_to_angle(&self, idx: usize) -> f64

Converts a grid index to a joint angle in [-pi, pi).

Trait Implementations

impl Clone for JointSpaceGrid

fn clone(&self) -> JointSpaceGrid

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointSpaceGrid

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

Formats the value using the given formatter.