deke_types/
lib.rs

1use std::{
2    convert::Infallible,
3    fmt::{Debug, Display},
4};
5
6pub use glam;
7pub use wide;
8
9mod fk;
10mod fk_dynamic;
11mod path;
12mod q;
13mod traj;
14mod validator;
15mod validator_dynamic;
16
17pub use fk::{
18    DHChain, DHJoint, FKChain, HPChain, HPJoint, PrismaticFK, TransformedFK, URDFBuildError,
19    URDFChain, URDFJoint, URDFJointType, compose_fixed_joints,
20};
21pub use fk_dynamic::{BoxFK, DynamicDHChain, DynamicHPChain, DynamicURDFChain};
22pub use path::{RobotPath, SRobotPath};
23pub use q::{RobotQ, SRobotQ, robotq, SRobotQLike};
24pub use traj::{RobotTraj, SRobotTraj};
25pub use validator::{JointValidator, Validator, ValidatorAnd, ValidatorNot, ValidatorOr, ValidatorContext, Leaf, FromFlattened};
26pub use validator_dynamic::DynamicJointValidator;
27
28use crate::validator::ValidatorRet;
29
30#[derive(Debug, Clone, thiserror::Error)]
31pub enum DekeError {
32    #[error("Expected {expected} joints, but found {found}")]
33    ShapeMismatch { expected: usize, found: usize },
34    #[error("Path has {0} waypoints, needs at least 2")]
35    PathTooShort(usize),
36    #[error("Joints contain non-finite values")]
37    JointsNonFinite,
38    #[error("Self-collision detected between joints {0} and {1}")]
39    SelfCollision(i16, i16),
40    #[error("Environment collision detected between joint {0} and object {1}")]
41    EnvironmentCollision(i16, i16),
42    #[error("Joints exceed their limits")]
43    ExceedJointLimits,
44    #[error("Out of iterations")]
45    OutOfIterations,
46    #[error("Locked-prefix constraint violated at waypoint {waypoint} joint {joint}")]
47    LockedPrefixViolation { waypoint: u32, joint: u8 },
48    #[error("Boundary conditions not parallel to path tangent (residual {0})")]
49    BoundaryInfeasible(f32),
50    #[error("Path has consecutive zero-length segments")]
51    DuplicateWaypoints,
52    #[error("Retimer failed: {0}")]
53    RetimerFailed(String),
54    #[error(
55        "URDF joint at index {index} has an unexpected type: expected {expected}, found {found}"
56    )]
57    URDFJointTypeMismatch {
58        index: usize,
59        expected: &'static str,
60        found: &'static str,
61    },
62    #[error("URDFChain<{expected}> requires {expected} revolute joints, found {found}")]
63    URDFRevoluteCountMismatch { expected: usize, found: usize },
64    #[error("Super error")]
65    SuperError,
66}
67
68impl From<Infallible> for DekeError {
69    fn from(_: Infallible) -> Self {
70        unreachable!()
71    }
72}
73
74pub type DekeResult<T> = Result<T, DekeError>;
75
76pub trait Planner<const N: usize, R: ValidatorRet = ()>: Sized + Clone + Debug + Send + Sync + 'static {
77    type Diagnostic: Display + Send + Sync;
78    type Config;
79
80    fn plan<
81        E: Into<DekeError>,
82        A: SRobotQLike<N, E>,
83        B: SRobotQLike<N, E>,
84        V: Validator<N, R>,
85    >(
86        &self,
87        config: &Self::Config,
88        start: A,
89        goal: B,
90        validator: &V,
91        ctx: &V::Context<'_>,
92    ) -> (DekeResult<SRobotPath<N>>, Self::Diagnostic);
93}
94
95pub trait Retimer<const N: usize, R: ValidatorRet = ()>: Sized + Clone + Debug + Send + Sync + 'static {
96    type Diagnostic: Display + Send + Sync;
97    type Constraints;
98
99    fn retime<V: Validator<N, R>>(
100        &self,
101        constraints: &Self::Constraints,
102        path: &SRobotPath<N>,
103        fk: &impl FKChain<N>,
104        validator: &V,
105        ctx: &V::Context<'_>,
106    ) -> (DekeResult<SRobotTraj<N>>, Self::Diagnostic);
107}
deke_types/lib.rs

deke_types/
lib.rs
