Struct CuJointPlanPath 

pub struct CuJointPlanPath<const N: usize> {
    pub waypoints: [CuJointPositionsPayload<N>; 32],
    pub len: u32,
    pub cost: f64,
    pub effort: u32,
    pub status: CuPlanStatus,
    pub scene_revision: CuSceneRevision,
    pub exclusions: CuSceneExclusions<MAX_EXCLUSIONS>,
}

Planned joint-space path (CuMsgPayload-compliant).

Fields

waypoints: [CuJointPositionsPayload<N>; 32]

len: u32

Number of valid waypoints in waypoints[..len]; 0 unless the status has a path.

cost: f64

Dimensionless joint-space L2 path length under the planner’s metric.

effort: u32

Planner work spent on the job (samples, optimizer iterations, …).

status: CuPlanStatus

scene_revision: CuSceneRevision

Scene revision the path was planned against.

exclusions: CuSceneExclusions<MAX_EXCLUSIONS>

Collision exclusions captured for this plan.

Implementations

impl<const N: usize> CuJointPlanPath<N>

pub fn waypoints(&self) -> &[CuJointPositionsPayload<N>]

Valid waypoints.

Trait Implementations

impl<'__de, const N: usize, __Context> BorrowDecode<'__de, __Context> for CuJointPlanPath<N>

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

Attempt to decode this type with the given BorrowDecode.

impl<const N: usize> Clone for CuJointPlanPath<N>

fn clone(&self) -> CuJointPlanPath<N>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize> Debug for CuJointPlanPath<N>

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

Formats the value using the given formatter.

impl<const N: usize, __Context> Decode<__Context> for CuJointPlanPath<N>

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

Attempt to decode this type with the given Decode.

impl<const N: usize> Default for CuJointPlanPath<N>

fn default() -> Self

Returns the “default value” for a type.

impl<'de, const N: usize> Deserialize<'de> for CuJointPlanPath<N>

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<const N: usize> Encode for CuJointPlanPath<N>

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

Encode a given type.

impl<const N: usize> PartialEq for CuJointPlanPath<N>

fn eq(&self, other: &CuJointPlanPath<N>) -> bool

Equality operator ==.

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

Inequality operator !=.

impl<const N: usize> Serialize for CuJointPlanPath<N>

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl<const N: usize> StructuralPartialEq for CuJointPlanPath<N>

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