Struct CuJointTrajectoryLimits 

pub struct CuJointTrajectoryLimits<const N: usize> {
    pub max_velocities: [CuJointVelocity; N],
    pub max_accelerations: [CuJointAcceleration; N],
    pub max_jerks: Option<[CuJointJerk; N]>,
}

Per-joint speed, acceleration, and jerk limits for time-parameterization.

Every entry uses the typed joint representation, so revolute (rad/s, rad/s^2, rad/s^3), prismatic (m/s, m/s^2, m/s^3), and fixed joints each carry their own unit; the entry kind must match the joint kind of the parameterized waypoints. max_jerks is only used by CuTrajectoryProfile::SCurve; None (the default, and an omitted RON key) means “no jerk bound” and lets the S-curve degrade gracefully to trapezoidal timing and shape. A single f64::INFINITY entry leaves that joint unbounded.

{
    "max_velocities": [{"revolute": 0.8}, {"prismatic": 0.2}],
    "max_accelerations": [{"revolute": 2.0}, {"prismatic": 1.0}],
    "max_jerks": [{"revolute": 10.0}, {"prismatic": 5.0}], // optional
}

Fields

max_velocities: [CuJointVelocity; N]

max_accelerations: [CuJointAcceleration; N]

max_jerks: Option<[CuJointJerk; N]>

Per-joint jerk bounds; None means unbounded.

Implementations

impl<const N: usize> CuJointTrajectoryLimits<N>

pub const fn new( max_velocities: [CuJointVelocity; N], max_accelerations: [CuJointAcceleration; N], ) -> Self

Creates limits from per-joint typed velocities and accelerations with no jerk bound; add one with CuJointTrajectoryLimits::with_jerks.

pub const fn with_jerks(self, max_jerks: [CuJointJerk; N]) -> Self

Sets per-joint jerk bounds. Each entry must be positive (finite or f64::INFINITY) for revolute and prismatic joints; fixed-joint entries are ignored.

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

Checks entry kinds against each other and that every non-fixed joint has a positive finite velocity and acceleration bound and, when given, a positive (possibly infinite) jerk bound. The joint kind is taken from max_velocities.

Trait Implementations

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

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize> Copy for CuJointTrajectoryLimits<N>

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

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

Formats the value using the given formatter.

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

fn default() -> Self

Zero limits: a placeholder that CuJointTrajectoryLimits::validate rejects, since limits have no sensible default.

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

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

Encode a given type.

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

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

Equality operator ==.

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

Inequality operator !=.

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

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