Struct CuJointGoalTask 

pub struct CuJointGoalTask<const N: usize> { /* private fields */ }

Requests one plan from the measured joint state to a configured goal.

Input is the robot’s CuJointStatePayload<N>; output is a CuJointPlanRequest<N> for a crate::CuJointPlannerTask. The first cycle whose state reports CuRobotStatus::Ready becomes the plan start and the request is published exactly once; every other cycle publishes nothing, so the planner runs one job.

Node config: CuJointGoalParams. The request carries an empty planning scene; self-collision is still checked against the planner’s collision model.

Implementations

impl<const N: usize> CuJointGoalTask<N>

pub fn from_params(params: CuJointGoalParams<N>) -> CuResult<Self>

Creates a task that requests one plan to the configured goal.

pub const fn is_requested(&self) -> bool

true once the request has been published.

Trait Implementations

impl<const N: usize> CuTask for CuJointGoalTask<N>

type Resources<'r> = ()

Resources required by the task.

type Input<'m> = CuStampedData<CuJointStatePayload<N>, CuMsgMetadata>

type Output<'m> = CuStampedData<CuJointPlanRequest<N>, CuMsgMetadata>

fn new( cfg: Option<&ComponentConfig>, _resources: Self::Resources<'_>, ) -> CuResult<Self>

Here you need to initialize everything your task will need for the duration of its lifetime. The config allows you to access the configuration of the task.

fn process<'i, 'o>( &mut self, _ctx: &CuContext, input: &Self::Input<'i>, output: &mut Self::Output<'o>, ) -> CuResult<()>

Process is the most critical execution of the task. The goal will be to produce the output message as soon as possible. Use preprocess to prepare the task to make this method as short as possible.

fn register_debug_state_types(registry: &mut TypeRegistry)

where Self: Sized + GetTypeRegistration,

Registers the reflected type used as this task’s debug-state contract.

fn debug_state_type_path() -> &'static str

where Self: Sized + TypePath,

Returns the reflected type path used as this task’s debug-state schema.

fn with_debug_state<R>( &self, f: impl FnOnce(&(dyn Reflect + 'static)) -> R, ) -> R

where Self: Sized,

Borrows this task’s current debug-state view.

fn start(&mut self, _ctx: &CuContext) -> Result<(), CuError>

Start is called between the creation of the task and the first call to pre/process.

fn preprocess(&mut self, _ctx: &CuContext) -> Result<(), CuError>

This is a method called by the runtime before “process”. This is a kind of best effort, as soon as possible call to give a chance for the task to do some work before to prepare to make “process” as short as possible.

fn postprocess(&mut self, _ctx: &CuContext) -> Result<(), CuError>

This is a method called by the runtime after “process”. It is best effort a chance for the task to update some state after process is out of the way. It can be use for example to maintain statistics etc. that are not time-critical for the robot.

fn stop(&mut self, _ctx: &CuContext) -> Result<(), CuError>

Called to stop the task. It signals that the *process method won’t be called until start is called again.

impl<const N: usize> Freezable for CuJointGoalTask<N>

fn freeze<E: Encoder>(&self, encoder: &mut E) -> Result<(), EncodeError>

This method is called by the framework when it wants to save the task state. The default implementation is to encode nothing (stateless). If you have a state, you need to implement this method.

fn thaw<D: Decoder>(&mut self, decoder: &mut D) -> Result<(), DecodeError>

This method is called by the framework when it wants to restore the task to a specific state. Here it is similar to Decode but the framework will give you a new instance of the task (the new method will be called)

impl<const N: usize> TypePath for CuJointGoalTask<N>

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>