RobotStudio event

Need Help: Check a RsTarget whether it is in Collision or not

Hi,<br><br>I am a novice to RobotStudio and its Addin development in C#. My Addin should find shortest paths due to the use of a sample-based pathplanning algorithm. <br><br>I want to build a probablistic roadmap for the configurationspace of an
abb robot. Therefore a graph with vertices and edges is build. When
building the graph in configurationspace, a random position is taken.
For this position it is necessary to check, whether the joint values in
configuration space mean a collision in the workspace. If there is no
collision, the vertex is added to the roadmap.<br><br><span style="color: rgb(204, 51, 204);">Here is my question:</span>  Does the ABB library provide any method to <span style="font-weight: bold;">check</span> whether a certain configuration for a certain RsTarget means a <span style="font-weight: bold;">collision</span> with an imported CAD model? <br><br>Thank you very for your answers!<br><br>Thank you very much for your help!<br><br>BTW maybe you have any other hints concerning pathplanning! <br>