Crate deke_types 

Re-exports

pub use glam;

Modules

rexports

Macros

validator_context_type_impl

Structs

BoxFK

JointValidator

KinSpec

RobotTraj

Dynamically-sized robot trajectory: a dense RobotPath sampled uniformly at dt.

SRobotPath

Statically-sized robot path backed by Vec<SRobotQ<N, T>>.

SRobotQ

Statically-sized joint configuration backed by [F; N].

SRobotTraj

Statically-sized robot trajectory: an SRobotPath sampled uniformly at dt.

ValidatorAnd

ValidatorNot

ValidatorOr

Enums

DekeError

DynamicJointValidator

IkOutcome

JointSpec

MaybeValidator

Traits

ContinuousFKChain

Extension trait over FKChain for chains that can describe their kinematic structure as a KinSpec. From the structure plus a joint configuration the trait derives geometric Jacobian computations (jacobian, jacobian_dot, jacobian_ddot) and the link-length-sum max_reach estimate, all provided as defaults that respect each joint’s JointSpec (so prismatic and revolute columns are formed correctly).

FKChain

FromFlattened

IkSolver

KinScalar

Scalar bound for FK code: FloatScalar plus the SIMD-aligned vec/mat/affine types the FK code operates on.

Planner

Retimer

SRobotQLike

Validator

ValidatorContext

Functions

check_finite

robotq

Type Aliases

DekeResult

IkSolutions

Inverse-kinematics solution set. Stays inline on the stack for the common case of ≤8 solutions (analytic branches) and spills to the heap when a discrete/enumerated solve produces more.

RobotPath

RobotQ