Struct CuJointPlannerParams 

pub struct CuJointPlannerParams<P, const N: usize, const M: usize = N> {
    pub chain: Option<CuChainSpec<N>>,
    pub collision_model: Option<CuCollisionModelSpec<M>>,
    pub params: P,
    pub base_budget: Option<u32>,
    pub refine_budget: Option<u32>,
}

Node config of CuJointPlannerTask (and every CuJoint<Planner>Task alias): robot models, the planner’s own parameters, and work budgets.

P is the planner’s CuJointPlanner::Params.

// CuJointRrtStarTask<6> (repose-joint-rrt-star)
config: {
    "chain": "igus_rebel",            // or {"joints": [...]}
    "collision_model": "igus_rebel",  // or {"shapes": [...], "safety_margin": 0.005}
    "params": {"step_size": 0.3, "max_nodes": 200}, // planner params; omit = defaults
    "base_budget": 64,                // optional; default CuJointPlanner::DEFAULT_BUDGETS
    "refine_budget": 32,              // optional
}

Fields

chain: Option<CuChainSpec<N>>

Required robot chain: a preset name ("igus_rebel") or an inline chain.

collision_model: Option<CuCollisionModelSpec<M>>

Required collision model: a preset name ("igus_rebel") or an inline model.

params: P

The planner’s parameters (validated by CuJointPlanner::new).

base_budget: Option<u32>

Work units of base(); None uses the planner’s default.

refine_budget: Option<u32>

Work units of each refine(); None uses the planner’s default.

Implementations

impl<P, const N: usize, const M: usize> CuJointPlannerParams<P, N, M>

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

Checks that the chain and collision model are present and valid and that explicit budgets are positive. Planner parameters are validated by CuJointPlanner::new.

Trait Implementations

impl<P: Clone, const N: usize, const M: usize> Clone for CuJointPlannerParams<P, N, M>

fn clone(&self) -> CuJointPlannerParams<P, N, M>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<P: Debug, const N: usize, const M: usize> Debug for CuJointPlannerParams<P, N, M>

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

Formats the value using the given formatter.

impl<P: Default, const N: usize, const M: usize> Default for CuJointPlannerParams<P, N, M>

fn default() -> Self

Returns the “default value” for a type.

impl<'de, P, const N: usize, const M: usize> Deserialize<'de> for CuJointPlannerParams<P, N, M>

where P: Deserialize<'de> + Default,

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<P, const N: usize, const M: usize> Serialize for CuJointPlannerParams<P, N, M>

where P: Serialize,

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

where __S: Serializer,

Serialize this value into the given Serde serializer.