Struct CuFollowTrajectoryTask 

pub struct CuFollowTrajectoryTask<const N: usize, const MAX_POINTS: usize = MAX_TRAJECTORY_POINTS> { /* private fields */ }

CuTask sampling a stored joint trajectory against the message Tov clock.

Each trajectory is sampled with its own interpolation unless CuFollowTrajectoryParams::interpolation overrides it.

The trajectory clock is the input message’s Tov: adoption records the Tov::Time of the adopting call and each call samples at now - start, where now is the current input Tov::Time (ctx.now() fallback when the input carries no stamp). This mirrors the sibling tasks’ output.tov = input.tov propagation while keeping elapsed tracking on the measurement-time axis rather than processing time.

Implementations

impl<const N: usize, const MAX_POINTS: usize> CuFollowTrajectoryTask<N, MAX_POINTS>

pub fn from_params(params: CuFollowTrajectoryParams) -> CuResult<Self>

Creates an idle follower holding no trajectory.

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

The follower parameters.

Trait Implementations

impl<const N: usize, const MAX_POINTS: usize> CuTask for CuFollowTrajectoryTask<N, MAX_POINTS>

type Resources<'r> = ()

Resources required by the task.

type Input<'m> = CuStampedData<CuTrajectoryPayload<N, MAX_POINTS>, CuMsgMetadata>

type Output<'m> = CuStampedData<CuTrajectoryFollowOutput<N>, CuMsgMetadata>

fn new( cfg: Option<&ComponentConfig>, _res: Self::Resources<'_>, ) -> CuResult<Self>

where Self: Sized,

Here you need to initialize everything your task will need for the duration of its lifetime. The config allows you to access the configuration of the task.

fn process<'i, 'o>( &mut self, ctx: &CuContext, input: &Self::Input<'i>, output: &mut Self::Output<'o>, ) -> CuResult<()>

Process is the most critical execution of the task. The goal will be to produce the output message as soon as possible. Use preprocess to prepare the task to make this method as short as possible.

fn register_debug_state_types(registry: &mut TypeRegistry)

where Self: Sized + GetTypeRegistration,

Registers the reflected type used as this task’s debug-state contract.

fn debug_state_type_path() -> &'static str

where Self: Sized + TypePath,

Returns the reflected type path used as this task’s debug-state schema.

fn with_debug_state<R>( &self, f: impl FnOnce(&(dyn Reflect + 'static)) -> R, ) -> R

where Self: Sized,

Borrows this task’s current debug-state view.

fn start(&mut self, _ctx: &CuContext) -> Result<(), CuError>

Start is called between the creation of the task and the first call to pre/process.

fn preprocess(&mut self, _ctx: &CuContext) -> Result<(), CuError>

This is a method called by the runtime before “process”. This is a kind of best effort, as soon as possible call to give a chance for the task to do some work before to prepare to make “process” as short as possible.

fn postprocess(&mut self, _ctx: &CuContext) -> Result<(), CuError>

This is a method called by the runtime after “process”. It is best effort a chance for the task to update some state after process is out of the way. It can be use for example to maintain statistics etc. that are not time-critical for the robot.

fn stop(&mut self, _ctx: &CuContext) -> Result<(), CuError>

Called to stop the task. It signals that the *process method won’t be called until start is called again.

impl<const N: usize, const MAX_POINTS: usize> Default for CuFollowTrajectoryTask<N, MAX_POINTS>

fn default() -> Self

Idle follower using each trajectory’s own interpolation.

impl<const N: usize, const MAX_POINTS: usize> Freezable for CuFollowTrajectoryTask<N, MAX_POINTS>

fn freeze<E: Encoder>(&self, encoder: &mut E) -> Result<(), EncodeError>

This method is called by the framework when it wants to save the task state. The default implementation is to encode nothing (stateless). If you have a state, you need to implement this method.

fn thaw<D: Decoder>(&mut self, decoder: &mut D) -> Result<(), DecodeError>

This method is called by the framework when it wants to restore the task to a specific state. Here it is similar to Decode but the framework will give you a new instance of the task (the new method will be called)

impl<const N: usize, const MAX_POINTS: usize> TypePath for CuFollowTrajectoryTask<N, MAX_POINTS>

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>