deke_types/
lib.rs

1use std::{
2    convert::Infallible,
3    fmt::{Debug, Display},
4    time::Duration,
5};
6
7pub use glam;
8pub use wide;
9
10mod fk;
11mod path;
12mod q;
13mod traj;
14mod validator;
15mod validator_dynamic;
16
17pub use fk::{
18    BoxFK, DHChain, DHJoint, DynamicDHChain, DynamicHPChain, DynamicURDFChain, FKChain, FKScalar,
19    FPDispatch, HPChain, HPJoint, PrismaticFK, TransformedFK, URDFBuildError, URDFChain,
20    URDFJoint, URDFJointType, compose_fixed_joints, compose_fixed_joints_f64,
21};
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, MaybeValidator, 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        "Retimer output exceeds {limit_type} limit on dof {dof}: observed {observed_value}, limit {limit_value} (dt_in={dt_in:?})"
56    )]
57    ExceedsDynamicsLimits {
58        dt_in: Duration,
59        limit_type: &'static str,
60        dof: u8,
61        limit_value: f64,
62        observed_value: f64,
63    },
64    #[error(
65        "URDF joint at index {index} has an unexpected type: expected {expected}, found {found}"
66    )]
67    URDFJointTypeMismatch {
68        index: usize,
69        expected: &'static str,
70        found: &'static str,
71    },
72    #[error("URDFChain<{expected}> requires {expected} revolute joints, found {found}")]
73    URDFRevoluteCountMismatch { expected: usize, found: usize },
74    #[error("Super error")]
75    SuperError,
76}
77
78impl From<Infallible> for DekeError {
79    fn from(_: Infallible) -> Self {
80        unreachable!()
81    }
82}
83
84pub type DekeResult<T> = Result<T, DekeError>;
85
86pub trait Planner<const N: usize, F: fk::FKScalar = f32, R: ValidatorRet = ()>: Sized + Clone + Debug + Send + Sync + 'static {
87    type Diagnostic: Display + Send + Sync;
88    type Config;
89
90    fn plan<
91        E: Into<DekeError>,
92        A: SRobotQLike<N, E, F>,
93        B: SRobotQLike<N, E, F>,
94        V: Validator<N, R, F>,
95    >(
96        &self,
97        config: &Self::Config,
98        start: A,
99        goal: B,
100        validator: &V,
101        ctx: &V::Context<'_>,
102    ) -> (DekeResult<SRobotPath<N, F>>, Self::Diagnostic);
103}
104
105pub trait Retimer<const N: usize, F: fk::FKScalar = f32, R: ValidatorRet = ()>: Sized + Clone + Debug + Send + Sync + 'static {
106    type Diagnostic: Display + Send + Sync;
107    type Constraints;
108
109    fn retime<V: Validator<N, R, F>>(
110        &self,
111        constraints: &Self::Constraints,
112        path: &SRobotPath<N, F>,
113        fk: &impl FKChain<N, F>,
114        validator: &V,
115        ctx: &V::Context<'_>,
116    ) -> (DekeResult<SRobotTraj<N, F>>, Self::Diagnostic);
117}
deke_types/lib.rs

deke_types/
lib.rs
