Struct CuJointRrtStar 

pub struct CuJointRrtStar<const N: usize, const M: usize = N> { /* private fields */ }

Allocation-free fixed-capacity joint-space RRT* solver.

Built with CuJointPlanner::new from robot models and CuJointRrtStarParams (invalid parameters fail there); runs in CuJointRrtStarTask.

Implementations

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

pub const fn params(&self) -> &CuJointRrtStarParams

The validated planner parameters.

pub fn grow(&mut self, budget: u32)

Runs budget bounded RRT* iterations in place.

pub const fn has_solution(&self) -> bool

Returns true if a collision-free path from start to goal has been found.

pub fn is_exhausted(&self) -> bool

Returns true if the node buffer is full or the path is already straight-line optimal.

pub fn best_cost(&self) -> f64

Returns the best joint-space path cost found so far.

pub const fn iterations(&self) -> u32

Returns the number of RRT* iterations executed for the current job.

pub const fn tree_size(&self) -> u32

Returns the number of nodes currently in the tree.

pub const fn scene_revision(&self) -> CuSceneRevision

Returns the scene revision captured for the current job.

pub const fn exclusions(&self) -> &CuSceneExclusions<MAX_EXCLUSIONS>

Exclusions captured for the current job.

pub fn quality(&self) -> Quality

Computes the normalized quality in [0.0, 1.0] (straight_line_cost / best_cost).

pub fn quality_of_cost(&self, cost: f64) -> Quality

Computes the normalized quality in [0.0, 1.0] of an actually emitted path (straight_line_cost / cost).

pub fn path_cost( &self, waypoints: &[CuJointPositionsPayload<N>; 32], len: u32, ) -> f64

Dimensionless joint-space L2 cost of an emitted waypoint sequence (waypoints[..len]) using the configured metric.

pub fn write_path( &self, out_waypoints: &mut [CuJointPositionsPayload<N>; 32], ) -> Option<u32>

Extracts and shortcuts the best path in place into out_waypoints, returning the number of waypoints written (Some(len)), or None if no solution exists or the shortcut path still exceeds MAX_WAYPOINTS.

Trait Implementations

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

const KIND: CuPlannerKind = CuPlannerKind::Sampling

Exploration family, for diagnostics and documentation.

type Params = CuJointRrtStarParams

The planner’s parameter struct: the params block of the planner task’s node config (serde(default, deny_unknown_fields)).

fn new( chain: CuKinematicChain<N>, collision_model: CuRobotCollisionModel<N, M>, params: CuJointRrtStarParams, ) -> 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 CuJointRrtStar<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>