Struct CuTrajectoryPayload 

pub struct CuTrajectoryPayload<const N: usize, const MAX_POINTS: usize = MAX_TRAJECTORY_POINTS> {
    pub points: [CuTrajectoryPoint<N>; MAX_POINTS],
    pub len: u32,
    pub interpolation: CuTrajectoryInterpolation,
}

Fixed-capacity timestamped joint trajectory (CuMsgPayload-compliant).

Fields

points: [CuTrajectoryPoint<N>; MAX_POINTS]

len: u32

Number of valid waypoints in points[..len].

interpolation: CuTrajectoryInterpolation

How CuTrajectoryPayload::sample reconstructs the motion between points. parameterize and parameterize_cartesian_path set it to the reconstruction their limits were validated on; hand-built trajectories default to CuTrajectoryInterpolation::Linear.

Implementations

impl<const N: usize, const CAP: usize> CuTrajectoryPayload<N, CAP>

pub fn quintic_limit_ratio( &self, limits: &CuJointTrajectoryLimits<N>, ) -> Option<f64>

Smallest uniform time stretch under which the quintic reconstruction of this trajectory respects limits, as a ratio of peak to limit (dimensionless).

Returns the largest of peak_v / v_max, sqrt(peak_a / a_max) and cbrt(peak_j / j_max) over all segments and non-fixed joints (an infinite jerk limit contributes nothing). A result <= 1 means the limits already hold exactly. Returns None for fewer than two knots, non-positive segment durations, non-finite values, joint-kind disagreements or limits that are not positive.

pub fn stretch_time(&mut self, factor: f64) -> CuResult<()>

Stretches all knot times by factor (dimensionless) and rescales velocities by 1/factor and accelerations by 1/factor^2, so the motion keeps its exact shape and every velocity, acceleration and jerk peak drops by 1/factor, 1/factor^2 and 1/factor^3. factor must be finite and positive.

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

pub fn new() -> Self

Creates an empty trajectory with CuTrajectoryInterpolation::Linear.

pub const fn is_empty(&self) -> bool

Returns true when the trajectory holds no waypoints.

pub const fn len(&self) -> usize

Returns the number of valid waypoints.

pub fn duration(&self) -> Time

Returns the last waypoint time, or zero when empty.

pub fn points(&self) -> &[CuTrajectoryPoint<N>]

Borrows the valid waypoint prefix.

pub fn push(&mut self, point: CuTrajectoryPoint<N>) -> CuResult<()>

Appends a waypoint; times must be strictly increasing.

pub fn clear(&mut self)

Drops all waypoints; the interpolation is kept.

pub fn sample( &self, t: Time, out_positions: &mut [CuJointPosition; N], out_velocities: &mut [CuJointVelocity; N], ) -> CuResult<()>

Samples joint positions and velocities at t in place with the payload’s interpolation.

Dispatches to sample_linear, sample_cubic or sample_quintic. Sampling before the first or after the last waypoint holds that endpoint.

pub fn sample_with( &self, interpolation: CuTrajectoryInterpolation, t: Time, out_positions: &mut [CuJointPosition; N], out_velocities: &mut [CuJointVelocity; N], ) -> CuResult<()>

Samples at t with an explicit interpolation, ignoring the payload’s.

pub fn sample_linear( &self, t: Time, out_positions: &mut [CuJointPosition; N], out_velocities: &mut [CuJointVelocity; N], ) -> CuResult<()>

Samples joint positions and velocities at t in place by linear interpolation between the bracketing waypoints.

t is clamped to [0, duration]; sampling before the first or after the last waypoint holds that endpoint. Errors on an empty trajectory or on mismatched joint coordinate types.

pub fn sample_cubic( &self, t: Time, out_positions: &mut [CuJointPosition; N], out_velocities: &mut [CuJointVelocity; N], ) -> CuResult<()>

Samples cubic Hermite interpolation using the stored positions and velocities.

parameterize and the non-S-curve profiles of parameterize_cartesian_path validate their limits on this reconstruction; it preserves the continuous position and velocity at each stored knot.

pub fn sample_quintic( &self, t: Time, out_positions: &mut [CuJointPosition; N], out_velocities: &mut [CuJointVelocity; N], ) -> CuResult<()>

Samples the quintic Hermite motion through the stored knots.

Each segment is the quintic matching position, velocity and acceleration at both knots, so all three are continuous across the trajectory and jerk is finite. parameterize_cartesian_path with the S-curve profile verifies its limits on exactly this reconstruction. Sampling before the first or after the last knot holds that endpoint.

Trait Implementations

impl<'de, C, const N: usize, const MAX_POINTS: usize> BorrowDecode<'de, C> for CuTrajectoryPayload<N, MAX_POINTS>

fn borrow_decode<D: BorrowDecoder<'de, Context = C>>( decoder: &mut D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given BorrowDecode.

impl<const N: usize, const MAX_POINTS: usize> Clone for CuTrajectoryPayload<N, MAX_POINTS>

fn clone(&self) -> CuTrajectoryPayload<N, MAX_POINTS>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize, const MAX_POINTS: usize> Debug for CuTrajectoryPayload<N, MAX_POINTS>

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

Formats the value using the given formatter.

impl<C, const N: usize, const MAX_POINTS: usize> Decode<C> for CuTrajectoryPayload<N, MAX_POINTS>

fn decode<D: Decoder<Context = C>>(decoder: &mut D) -> Result<Self, DecodeError>

Attempt to decode this type with the given Decode.

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

fn default() -> Self

Returns the “default value” for a type.

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

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, const MAX_POINTS: usize> Encode for CuTrajectoryPayload<N, MAX_POINTS>

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

Encode a given type.

impl<const N: usize, const MAX_POINTS: usize> PartialEq for CuTrajectoryPayload<N, MAX_POINTS>

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

Equality operator ==.

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

Inequality operator !=.

impl<const N: usize, const MAX_POINTS: usize> Serialize for CuTrajectoryPayload<N, MAX_POINTS>

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, const MAX_POINTS: usize> StructuralPartialEq for CuTrajectoryPayload<N, MAX_POINTS>

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