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 path;
11mod q;
12mod traj;
13mod validator;
14mod validator_dynamic;
15
16pub use fk::{
17    BoxFK, DHChain, DHJoint, DynamicDHChain, DynamicHPChain, DynamicURDFChain, FKChain, FKScalar,
18    FPDispatch, HPChain, HPJoint, PrismaticFK, TransformedFK, URDFBuildError, URDFChain,
19    URDFJoint, URDFJointType, compose_fixed_joints, compose_fixed_joints_f64,
20};
21pub use path::{RobotPath, SRobotPath};
22pub use q::{RobotQ, SRobotQ, robotq, SRobotQLike};
23pub use traj::{RobotTraj, SRobotTraj};
24pub use validator::{JointValidator, Validator, ValidatorAnd, ValidatorNot, ValidatorOr, ValidatorContext, Leaf, FromFlattened};
25pub use validator_dynamic::DynamicJointValidator;
26
27use crate::validator::ValidatorRet;
28
29#[derive(Debug, Clone, thiserror::Error)]
30pub enum DekeError {
31    #[error("Expected {expected} joints, but found {found}")]
32    ShapeMismatch { expected: usize, found: usize },
33    #[error("Path has {0} waypoints, needs at least 2")]
34    PathTooShort(usize),
35    #[error("Joints contain non-finite values")]
36    JointsNonFinite,
37    #[error("Self-collision detected between joints {0} and {1}")]
38    SelfCollision(i16, i16),
39    #[error("Environment collision detected between joint {0} and object {1}")]
40    EnvironmentCollision(i16, i16),
41    #[error("Joints exceed their limits")]
42    ExceedJointLimits,
43    #[error("Out of iterations")]
44    OutOfIterations,
45    #[error("Locked-prefix constraint violated at waypoint {waypoint} joint {joint}")]
46    LockedPrefixViolation { waypoint: u32, joint: u8 },
47    #[error("Boundary conditions not parallel to path tangent (residual {0})")]
48    BoundaryInfeasible(f32),
49    #[error("Path has consecutive zero-length segments")]
50    DuplicateWaypoints,
51    #[error("Retimer failed: {0}")]
52    RetimerFailed(String),
53    #[error(
54        "URDF joint at index {index} has an unexpected type: expected {expected}, found {found}"
55    )]
56    URDFJointTypeMismatch {
57        index: usize,
58        expected: &'static str,
59        found: &'static str,
60    },
61    #[error("URDFChain<{expected}> requires {expected} revolute joints, found {found}")]
62    URDFRevoluteCountMismatch { expected: usize, found: usize },
63    #[error("Super error")]
64    SuperError,
65}
66
67impl From<Infallible> for DekeError {
68    fn from(_: Infallible) -> Self {
69        unreachable!()
70    }
71}
72
73pub type DekeResult<T> = Result<T, DekeError>;
74
75pub trait Planner<const N: usize, F: fk::FKScalar = f32, R: ValidatorRet = ()>: Sized + Clone + Debug + Send + Sync + 'static {
76    type Diagnostic: Display + Send + Sync;
77    type Config;
78
79    fn plan<
80        E: Into<DekeError>,
81        A: SRobotQLike<N, E, F>,
82        B: SRobotQLike<N, E, F>,
83        V: Validator<N, R, F>,
84    >(
85        &self,
86        config: &Self::Config,
87        start: A,
88        goal: B,
89        validator: &V,
90        ctx: &V::Context<'_>,
91    ) -> (DekeResult<SRobotPath<N, F>>, Self::Diagnostic);
92}
93
94pub trait Retimer<const N: usize, F: fk::FKScalar = f32, R: ValidatorRet = ()>: Sized + Clone + Debug + Send + Sync + 'static {
95    type Diagnostic: Display + Send + Sync;
96    type Constraints;
97
98    fn retime<V: Validator<N, R, F>>(
99        &self,
100        constraints: &Self::Constraints,
101        path: &SRobotPath<N, F>,
102        fk: &impl FKChain<N, F>,
103        validator: &V,
104        ctx: &V::Context<'_>,
105    ) -> (DekeResult<SRobotTraj<N, F>>, Self::Diagnostic);
106}
deke_types/lib.rs

deke_types/
lib.rs
