Enum DynamicJointValidator 

pub enum DynamicJointValidator {
    J1(JointValidator<1>),
    J2(JointValidator<2>),
    J3(JointValidator<3>),
    J4(JointValidator<4>),
    J5(JointValidator<5>),
    J6(JointValidator<6>),
    J7(JointValidator<7>),
    J8(JointValidator<8>),
}

Variants

J1(JointValidator<1>)

J2(JointValidator<2>)

J3(JointValidator<3>)

J4(JointValidator<4>)

J5(JointValidator<5>)

J6(JointValidator<6>)

J7(JointValidator<7>)

J8(JointValidator<8>)

Implementations

impl DynamicJointValidator

pub fn try_new(lower: Vec<f32>, upper: Vec<f32>) -> DekeResult<Self>

pub fn dof(&self) -> usize

pub fn validate_dyn(&self, q: &[f32]) -> DekeResult<()>

pub fn validate_motion_dyn(&self, qs: &[&[f32]]) -> DekeResult<()>

impl DynamicJointValidator

pub fn from_validator(v: impl Into<Self>) -> Self

Trait Implementations

impl Clone for DynamicJointValidator

fn clone(&self) -> DynamicJointValidator

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for DynamicJointValidator

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl From<JointValidator<1>> for DynamicJointValidator

fn from(v: JointValidator<1>) -> Self

Converts to this type from the input type.

impl From<JointValidator<2>> for DynamicJointValidator

fn from(v: JointValidator<2>) -> Self

Converts to this type from the input type.

impl From<JointValidator<3>> for DynamicJointValidator

fn from(v: JointValidator<3>) -> Self

Converts to this type from the input type.

impl From<JointValidator<4>> for DynamicJointValidator

fn from(v: JointValidator<4>) -> Self

Converts to this type from the input type.

impl From<JointValidator<5>> for DynamicJointValidator

fn from(v: JointValidator<5>) -> Self

Converts to this type from the input type.

impl From<JointValidator<6>> for DynamicJointValidator

fn from(v: JointValidator<6>) -> Self

Converts to this type from the input type.

impl From<JointValidator<7>> for DynamicJointValidator

fn from(v: JointValidator<7>) -> Self

Converts to this type from the input type.

impl From<JointValidator<8>> for DynamicJointValidator

fn from(v: JointValidator<8>) -> Self

Converts to this type from the input type.

impl Validator<1, (), f64> for DynamicJointValidator

f64 entry point — downcasts to f32 and dispatches to the f32 impl. DynamicJointValidator stores JointValidator<N, f32>, so f64 inputs are narrowed at the boundary; precision is governed by the f32 limits the validator was configured with.

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<1, E, f64>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<1, f64>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<1> for DynamicJointValidator

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<1, E>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<1>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<2, (), f64> for DynamicJointValidator

f64 entry point — downcasts to f32 and dispatches to the f32 impl. DynamicJointValidator stores JointValidator<N, f32>, so f64 inputs are narrowed at the boundary; precision is governed by the f32 limits the validator was configured with.

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<2, E, f64>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<2, f64>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<2> for DynamicJointValidator

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<2, E>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<2>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<3, (), f64> for DynamicJointValidator

f64 entry point — downcasts to f32 and dispatches to the f32 impl. DynamicJointValidator stores JointValidator<N, f32>, so f64 inputs are narrowed at the boundary; precision is governed by the f32 limits the validator was configured with.

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<3, E, f64>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<3, f64>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<3> for DynamicJointValidator

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<3, E>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<3>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<4, (), f64> for DynamicJointValidator

f64 entry point — downcasts to f32 and dispatches to the f32 impl. DynamicJointValidator stores JointValidator<N, f32>, so f64 inputs are narrowed at the boundary; precision is governed by the f32 limits the validator was configured with.

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<4, E, f64>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<4, f64>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<4> for DynamicJointValidator

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<4, E>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<4>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<5, (), f64> for DynamicJointValidator

f64 entry point — downcasts to f32 and dispatches to the f32 impl. DynamicJointValidator stores JointValidator<N, f32>, so f64 inputs are narrowed at the boundary; precision is governed by the f32 limits the validator was configured with.

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<5, E, f64>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<5, f64>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<5> for DynamicJointValidator

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<5, E>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<5>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<6, (), f64> for DynamicJointValidator

f64 entry point — downcasts to f32 and dispatches to the f32 impl. DynamicJointValidator stores JointValidator<N, f32>, so f64 inputs are narrowed at the boundary; precision is governed by the f32 limits the validator was configured with.

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<6, E, f64>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<6, f64>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<6> for DynamicJointValidator

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<6, E>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<6>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<7, (), f64> for DynamicJointValidator

f64 entry point — downcasts to f32 and dispatches to the f32 impl. DynamicJointValidator stores JointValidator<N, f32>, so f64 inputs are narrowed at the boundary; precision is governed by the f32 limits the validator was configured with.

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<7, E, f64>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<7, f64>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<7> for DynamicJointValidator

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<7, E>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<7>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<8, (), f64> for DynamicJointValidator

f64 entry point — downcasts to f32 and dispatches to the f32 impl. DynamicJointValidator stores JointValidator<N, f32>, so f64 inputs are narrowed at the boundary; precision is governed by the f32 limits the validator was configured with.

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<8, E, f64>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<8, f64>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.

impl Validator<8> for DynamicJointValidator

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<8, E>>( &self, q: A, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<8>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, F>], ctx: &Self::Context<'ctx>, ) -> BitVec

Validate a batch of configurations at once, returning a bitvec whose i-th bit is set iff qs[i] is invalid (rejected). The default runs Validator::validate per config; implementors with a batched fast path (SIMD, GPU) override it.