oxmpl-js 0.6.0

JavaScript/WASM Bindings for the OxMPL Library
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174

// Copyright (c) 2025 Ross Gardiner, Junior Sundar
//
// SPDX-License-Identifier: BSD-3-Clause

use crate::base::{
    goal::JsGoal,
    path::JsPath,
    planner::JsPlannerConfig,
    problem_definition::{JsProblemDefinition, ProblemDefinitionVariant},
    state_validity_checker::JsStateValidityChecker,
};
use oxmpl::base::{
    planner::Planner,
    space::{
        CompoundStateSpace, RealVectorStateSpace, SE2StateSpace, SE3StateSpace, SO2StateSpace,
        SO3StateSpace,
    },
    state::{CompoundState, RealVectorState, SE2State, SE3State, SO2State, SO3State},
};
use oxmpl::geometric::RRTStar;
use std::sync::Arc;
use std::time::Duration;
use wasm_bindgen::prelude::*;

enum RRTStarVariant {
    RealVector(RRTStar<RealVectorState, RealVectorStateSpace, JsGoal>),
    SO2(RRTStar<SO2State, SO2StateSpace, JsGoal>),
    SO3(RRTStar<SO3State, SO3StateSpace, JsGoal>),
    Compound(RRTStar<CompoundState, CompoundStateSpace, JsGoal>),
    SE2(RRTStar<SE2State, SE2StateSpace, JsGoal>),
    SE3(RRTStar<SE3State, SE3StateSpace, JsGoal>),
}

#[wasm_bindgen(js_name = RRTStar)]
pub struct JsRRTStar {
    planner: RRTStarVariant,
    pd: ProblemDefinitionVariant,
}

#[wasm_bindgen(js_class = RRTStar)]
impl JsRRTStar {
    #[wasm_bindgen(constructor)]
    pub fn new(
        max_distance: f64,
        goal_bias: f64,
        search_radius: f64,
        problem_def: &JsProblemDefinition,
        config: &JsPlannerConfig,
    ) -> Self {
        let planner_config = config.into();
        match &problem_def.inner {
            ProblemDefinitionVariant::RealVector(pd) => Self {
                planner: RRTStarVariant::RealVector(RRTStar::new(
                    max_distance,
                    goal_bias,
                    search_radius,
                    &planner_config,
                )),
                pd: ProblemDefinitionVariant::RealVector(pd.clone()),
            },
            ProblemDefinitionVariant::SO2(pd) => Self {
                planner: RRTStarVariant::SO2(RRTStar::new(
                    max_distance,
                    goal_bias,
                    search_radius,
                    &planner_config,
                )),
                pd: ProblemDefinitionVariant::SO2(pd.clone()),
            },
            ProblemDefinitionVariant::SO3(pd) => Self {
                planner: RRTStarVariant::SO3(RRTStar::new(
                    max_distance,
                    goal_bias,
                    search_radius,
                    &planner_config,
                )),
                pd: ProblemDefinitionVariant::SO3(pd.clone()),
            },
            ProblemDefinitionVariant::Compound(pd) => Self {
                planner: RRTStarVariant::Compound(RRTStar::new(
                    max_distance,
                    goal_bias,
                    search_radius,
                    &planner_config,
                )),
                pd: ProblemDefinitionVariant::Compound(pd.clone()),
            },
            ProblemDefinitionVariant::SE2(pd) => Self {
                planner: RRTStarVariant::SE2(RRTStar::new(
                    max_distance,
                    goal_bias,
                    search_radius,
                    &planner_config,
                )),
                pd: ProblemDefinitionVariant::SE2(pd.clone()),
            },
            ProblemDefinitionVariant::SE3(pd) => Self {
                planner: RRTStarVariant::SE3(RRTStar::new(
                    max_distance,
                    goal_bias,
                    search_radius,
                    &planner_config,
                )),
                pd: ProblemDefinitionVariant::SE3(pd.clone()),
            },
        }
    }

    pub fn setup(&mut self, validity_checker: &JsStateValidityChecker) {
        let checker = Arc::new(validity_checker.clone());
        match &mut self.planner {
            RRTStarVariant::RealVector(p) => {
                if let ProblemDefinitionVariant::RealVector(pd) = &self.pd {
                    p.setup(pd.clone(), checker);
                }
            }
            RRTStarVariant::SO2(p) => {
                if let ProblemDefinitionVariant::SO2(pd) = &self.pd {
                    p.setup(pd.clone(), checker);
                }
            }
            RRTStarVariant::SO3(p) => {
                if let ProblemDefinitionVariant::SO3(pd) = &self.pd {
                    p.setup(pd.clone(), checker);
                }
            }
            RRTStarVariant::Compound(p) => {
                if let ProblemDefinitionVariant::Compound(pd) = &self.pd {
                    p.setup(pd.clone(), checker);
                }
            }
            RRTStarVariant::SE2(p) => {
                if let ProblemDefinitionVariant::SE2(pd) = &self.pd {
                    p.setup(pd.clone(), checker);
                }
            }
            RRTStarVariant::SE3(p) => {
                if let ProblemDefinitionVariant::SE3(pd) = &self.pd {
                    p.setup(pd.clone(), checker);
                }
            }
        }
    }

    pub fn solve(&mut self, timeout_secs: f32) -> Result<JsPath, String> {
        let timeout = Duration::from_secs_f32(timeout_secs);
        match &mut self.planner {
            RRTStarVariant::RealVector(p) => p
                .solve(timeout)
                .map(JsPath::from)
                .map_err(|e| e.to_string()),
            RRTStarVariant::SO2(p) => p
                .solve(timeout)
                .map(JsPath::from)
                .map_err(|e| e.to_string()),
            RRTStarVariant::SO3(p) => p
                .solve(timeout)
                .map(JsPath::from)
                .map_err(|e| e.to_string()),
            RRTStarVariant::Compound(p) => p
                .solve(timeout)
                .map(JsPath::from)
                .map_err(|e| e.to_string()),
            RRTStarVariant::SE2(p) => p
                .solve(timeout)
                .map(JsPath::from)
                .map_err(|e| e.to_string()),
            RRTStarVariant::SE3(p) => p
                .solve(timeout)
                .map(JsPath::from)
                .map_err(|e| e.to_string()),
        }
    }
}