Struct CuJointRrtConnect 

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

Bidirectional RRT-Connect planner.

Built with CuJointPlanner::new from robot models and CuJointRrtConnectParams; runs in CuJointRrtConnectTask.

Implementations

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

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

The validated planner parameters.

Trait Implementations

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

const KIND: CuPlannerKind = CuPlannerKind::Sampling

Exploration family, for diagnostics and documentation.

type Params = CuJointRrtConnectParams

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: CuJointRrtConnectParams, ) -> 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 CuJointRrtConnect<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>