Struct CuPathTimingParams 

pub struct CuPathTimingParams<const N: usize> {
    pub timing: CuTimingParams<N>,
    pub collision_step: CuJointResolution,
}

Parameters of parameterize_cartesian_path: the shared joint timing plus the collision recheck resolution.

{
    "timing": {
        "limits": {
            "max_velocities": [{"revolute": 1.0}],
            "max_accelerations": [{"revolute": 2.0}],
            "max_jerks": [{"revolute": 10.0}],
        },
        "profile": "s_curve",
        "sample_period": 0.02,
    },
    "collision_step": {"angular": 0.08, "linear": 0.01},
}

Fields

timing: CuTimingParams<N>

Limits, path-speed profile of every move, and sample period.

collision_step: CuJointResolution

Joint resolution for the collision recheck of the interpolated path.

Implementations

impl<const N: usize> CuPathTimingParams<N>

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

Checks the timing parameters and the collision resolution.

Trait Implementations

impl<const N: usize> Clone for CuPathTimingParams<N>

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

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

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

Formats the value using the given formatter.

impl<const N: usize> Default for CuPathTimingParams<N>

fn default() -> Self

Returns the “default value” for a type.

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

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

Equality operator ==.

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

Inequality operator !=.

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

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