deke_linear/
diagnostic.rs

1use std::fmt;
2use std::time::Duration;
3
4/// Outcome of the Stage B branch-tracking plan over one run.
5#[derive(Clone, Debug)]
6pub struct LinearPlannerDiagnostic {
7    pub samples: usize,
8    pub min_manipulability: f64,
9    pub total_cost: f64,
10}
11
12impl fmt::Display for LinearPlannerDiagnostic {
13    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
14        write!(
15            f,
16            "planner: {} samples, min manipulability {:.3e}, route cost {:.3}",
17            self.samples, self.min_manipulability, self.total_cost
18        )
19    }
20}
21
22/// Outcome of the Stage C constant-speed retime over one run.
23#[derive(Clone, Debug)]
24pub struct LinearRetimerDiagnostic {
25    pub output_samples: usize,
26    pub duration: Duration,
27    pub arc_length: f64,
28    pub commanded_speed: f64,
29    pub peak_speed: f64,
30}
31
32impl fmt::Display for LinearRetimerDiagnostic {
33    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
34        write!(
35            f,
36            "retimer: {} samples over {:.3}s, {:.4}m, commanded {:.4} m/s, peak {:.4} m/s",
37            self.output_samples,
38            self.duration.as_secs_f64(),
39            self.arc_length,
40            self.commanded_speed,
41            self.peak_speed
42        )
43    }
44}
45
46/// Outcome of the redundancy-resolving (free-yaw) plan over one run.
47#[derive(Clone, Debug)]
48pub struct RedundantDiagnostic {
49    pub samples: usize,
50    pub min_manipulability: f64,
51    /// (min, max) resolved yaw about the tool axis, radians.
52    pub yaw_range: (f64, f64),
53}
54
55impl fmt::Display for RedundantDiagnostic {
56    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
57        write!(
58            f,
59            "redundant: {} samples, min manipulability {:.3e}, yaw ∈ [{:.1}°, {:.1}°]",
60            self.samples,
61            self.min_manipulability,
62            self.yaw_range.0.to_degrees(),
63            self.yaw_range.1.to_degrees()
64        )
65    }
66}
deke_linear/diagnostic.rs

deke_linear/
diagnostic.rs
