Struct CuJointPathOptimizerParams 

pub struct CuJointPathOptimizerParams {
    pub waypoints: u32,
    pub learning_rate: f64,
    pub clearance: Length,
    pub obstacle_weight: f64,
    pub smoothness_weight: f64,
    pub gradient_step: f64,
    pub max_iterations: u32,
    pub collision_check_step: CuJointResolution,
    pub metric: CuJointMetric,
}

Parameters of CuJointPathOptimizer.

Fields

waypoints: u32

Path waypoints including start and goal (3..=MAX_WAYPOINTS).

learning_rate: f64

Gradient step per unit of cost gradient (dimensionless, metric-scaled).

clearance: Length

Clearance below which the obstacle term pushes the path away.

obstacle_weight: f64

Weight of the obstacle term (dimensionless, >= 0).

smoothness_weight: f64

Weight of the smoothness term (dimensionless, >= 0).

gradient_step: f64

Finite-difference step for the clearance gradient (dimensionless, metric-scaled).

max_iterations: u32

Iterations after which the job ends.

collision_check_step: CuJointResolution

Resolution of the segment collision checks.

metric: CuJointMetric

Scaling of dimensionless joint-space distances and costs.

Implementations

impl CuJointPathOptimizerParams

pub fn validate(&self) -> CuResult<()>

Checks every parameter, the metric, and the collision-check resolution.

Trait Implementations

impl<'__de, __Context> BorrowDecode<'__de, __Context> for CuJointPathOptimizerParams

fn borrow_decode<__D: BorrowDecoder<'__de, Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given BorrowDecode.

impl Clone for CuJointPathOptimizerParams

fn clone(&self) -> CuJointPathOptimizerParams

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuJointPathOptimizerParams

impl Debug for CuJointPathOptimizerParams

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for CuJointPathOptimizerParams

fn decode<__D: Decoder<Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given Decode.

impl Default for CuJointPathOptimizerParams

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuJointPathOptimizerParams

where CuJointPathOptimizerParams: Default,

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Encode for CuJointPathOptimizerParams

fn encode<__E: Encoder>(&self, encoder: &mut __E) -> Result<(), EncodeError>

Encode a given type.

impl PartialEq for CuJointPathOptimizerParams

fn eq(&self, other: &CuJointPathOptimizerParams) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl Serialize for CuJointPathOptimizerParams

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for CuJointPathOptimizerParams

impl TypePath for CuJointPathOptimizerParams

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>