Crate repose_trajectory

Expand description

Fixed-capacity joint-space trajectory payload and allocation-free sampling.

CuTrajectoryPayload stores up to MAX_POINTS timestamped joint waypoints and the CuTrajectoryInterpolation that reconstructs the motion between them. CuTrajectoryPayload::sample interpolates joint positions and velocities in place into caller-provided buffers without allocating.

Joint-space waypoints are timed with parameterize; Cartesian paths are built with blend_cartesian_path and timed with parameterize_cartesian_path. Both timing functions share CuTimingParams and report a CuTimingStatus, and both set the payload’s interpolation so CuFollowTrajectoryTask executes the motion that was validated.

Structs§

CuCartesianBlendParams: Sampling bounds and IK parameters of blend_cartesian_path.
CuCartesianBlendPath: Fixed-capacity scratch path. Only points[..len] are valid.
CuCartesianPathPoint: A sampled joint configuration and whether it is a required stop.
CuCartesianWaypoint: A programmed joint waypoint and its TCP zone radius.
CuFollowTrajectoryParams: Parameters (node config:) of CuFollowTrajectoryTask.
CuFollowTrajectoryTask: CuTask sampling a stored joint trajectory against the message Tov clock.
CuJointTrajectoryLimits: Per-joint speed, acceleration, and jerk limits for time-parameterization.
CuPathTimingParams: Parameters of parameterize_cartesian_path: the shared joint timing plus the collision recheck resolution.
CuTcpZone: Programmed TCP zone of one waypoint, in the chain base frame.
CuTimingOverrides: Per-call segment timing and waypoint velocities for parameterize.
CuTimingParams: Timing parameters shared by parameterize and parameterize_cartesian_path.
CuTrajectoryFollowOutput: Follower setpoint carrying sampled joints plus the follow status.
CuTrajectoryPayload: Fixed-capacity timestamped joint trajectory (CuMsgPayload-compliant).
CuTrajectoryPoint: Single timestamped joint waypoint with positions and velocities.

CuCartesianBlendStatus: Controlled outcome. The output path is cleared on any non-success outcome.
CuFollowStatus: Follower outcome mirroring the CuIkStatus derive style.
CuTimingStatus: Outcome of parameterize and parameterize_cartesian_path.
CuTrajectoryInterpolation: Reconstruction of the motion between stored trajectory points.
CuTrajectoryProfile: Closed set of time-parameterization profile families.

MAX_TRAJECTORY_POINTS: Maximum number of waypoints in a CuTrajectoryPayload.

blend_cartesian_path: Construct a Cartesian path through joint waypoints with per-waypoint TCP zones.
parameterize: Times a joint-space waypoint path, writing timestamped points into out in place without allocating.
parameterize_cartesian_path: Times a sampled Cartesian path with one profile along the whole path.