Struct JointValidator 

pub struct JointValidator<const N: usize, F: KinScalar = f32> { /* private fields */ }

Implementations

impl<const N: usize, F: KinScalar> JointValidator<N, F>

pub fn new(lower: SRobotQ<N, F>, upper: SRobotQ<N, F>) -> Self

pub fn new_with_extras( lower: SRobotQ<N, F>, upper: SRobotQ<N, F>, extras: Vec<Box<dyn Fn(&SRobotQ<N, F>) -> bool + Send + Sync>>, ) -> Self

Trait Implementations

impl<const N: usize, F: Clone + KinScalar> Clone for JointValidator<N, F>

fn clone(&self) -> JointValidator<N, F>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize, F: KinScalar> Debug for JointValidator<N, F>

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<const N: usize, F: KinScalar> Validator<N, (), F> for JointValidator<N, F>

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, Q: SRobotQLike<N, E, F>>( &self, q: Q, _ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

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

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.

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

impl<const N: usize> Validator<N, (), f64> for JointValidator<N, f32>

Cross-precision entry point: f32-storage JointValidator accepting f64 inputs. The input is narrowed to f32 at the boundary so the same limits govern both precisions; comparison is done in storage precision.

type Context<'ctx> = ()

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

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

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, f64>], 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.

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false

impl<const N: usize> Validator<N> for JointValidator<N, f64>

Cross-precision entry point: f64-storage JointValidator accepting f32 inputs. The f32 input is widened to f64 (lossless) before comparison.

type Context<'ctx> = ()

fn validate<'ctx, E: Into<DekeError>, Q: SRobotQLike<N, E, f32>>( &self, q: Q, ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_motion<'ctx>( &self, qs: &[SRobotQ<N, f32>], ctx: &Self::Context<'ctx>, ) -> DekeResult<()>

fn validate_batched<'ctx>( &self, qs: &[SRobotQ<N, f32>], 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.

const VALIDATE_MOTION_IS_CONTINUOUS: bool = false