Enum CuAnyPlanner 

pub enum CuAnyPlanner<const N: usize, const M: usize = N> {
    RrtConnect(Box<CuJointRrtConnect<N, M>>),
    RrtStar(Box<CuJointRrtStar<N, M>>),
    Prm(Box<CuJointPrm<N, M>>),
    AStar(Box<CuJointAStar<N, M>>),
    Stomp(Box<CuJointStomp<N, M>>),
    PathOptimizer(Box<CuJointPathOptimizer<N, M>>),
    Direct(Box<CuJointDirect<N, M>>),
}

Any Repose joint planner with default parameters, chosen at runtime.

Variants

RrtConnect(Box<CuJointRrtConnect<N, M>>)

Bidirectional RRT, feasibility-first (rrt_connect).

RrtStar(Box<CuJointRrtStar<N, M>>)

Asymptotically optimal RRT* with rewiring and shortcutting (rrt_star).

Prm(Box<CuJointPrm<N, M>>)

Probabilistic roadmap (prm).

AStar(Box<CuJointAStar<N, M>>)

A* on a joint-space lattice (a_star).

Stomp(Box<CuJointStomp<N, M>>)

Stochastic trajectory optimization (stomp).

PathOptimizer(Box<CuJointPathOptimizer<N, M>>)

Gradient path optimizer, CHOMP-style (path_optimizer).

Direct(Box<CuJointDirect<N, M>>)

Straight joint line, collision-checked (direct).

Implementations

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

pub fn choice(&self) -> CuPlannerChoice

Which planner this is.

Trait Implementations

impl<const N: usize, const M: usize> CuJointPlanner<N, M> for CuAnyPlanner<N, M>

const KIND: CuPlannerKind = CuPlannerKind::Sampling

Varies with the choice; reported as sampling.

type Params = CuPlannerChoice

The planner to run, by name.

fn new( chain: CuKinematicChain<N>, collision_model: CuRobotCollisionModel<N, M>, params: CuPlannerChoice, ) -> CuResult<Self>

Builds the planner for explicit robot models, validating params.

fn begin( &mut self, request: &CuJointPlanRequest<N>, seed: u64, ) -> CuResult<CuPlanStatus>

Starts a new job for request, discarding the previous one.

fn step(&mut self, budget: u32) -> CuResult<CuPlanStatus>

Runs one bounded quantum of at most budget work units.

fn write_best(&self, out: &mut CuJointPlanPath<N>) -> CuPlanStatus

Writes the best path so far into out (waypoints, length, cost, effort, scene revision, exclusions) and returns the job status. out holds no waypoints unless the status has a path.

fn quality(&self) -> Quality

Quality of the best path in 0.0..=1.0 (0.0 without a path).

const DEFAULT_BUDGETS: (u32, u32) = _

Default (base_budget, refine_budget) work units of CuJointPlannerTask when the node config leaves them out.

impl<const N: usize, const M: usize> TypePath for CuAnyPlanner<N, M>

fn type_path() -> &'static str

fn short_type_path() -> &'static str

fn type_ident() -> Option<&'static str>

fn crate_name() -> Option<&'static str>

fn module_path() -> Option<&'static str>