deke-types

Shared types and interfaces for the deke crates. Joint count N is a const generic; the scalar F is generic over f32/f64 via KinScalar.

Surface

• RobotQ / SRobotQ: joint configurations (heap and stack-array forms).
• RobotPath / SRobotPath: ordered joint-space waypoints.
• RobotTraj / SRobotTraj: time-sampled trajectories.
• FKChain, StrictFKChain, BoxFK: forward-kinematics chains; JointSpec, KinSpec describe them.
• Validator and combinators (ValidatorAnd, ValidatorOr, ValidatorNot, JointValidator, DynamicJointValidator).
• Planner, Retimer: the interfaces implemented by deke-rrt and the deke-topp crates.
• DekeError / DekeResult.

Example

use deke_types::{JointValidator, SRobotQ, Validator};

let lower = SRobotQ::<6, f64>::from_array([-3.14; 6]);
let upper = SRobotQ::<6, f64>::from_array([3.14; 6]);
let validator = JointValidator::new(lower, upper);

let q = SRobotQ::<6, f64>::from_array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6]);
let ret = validator.validate(&q, &ctx);   // DekeResult<R> per the Validator impl

Planner::plan and Retimer::retime each return their result paired with a diagnostic; Validator::validate / validate_motion return DekeResult<R>.

Features

• valuable: derive valuable::Valuable for structured logging.

License

Apache-2.0