deke_types/
lib.rs

1use std::{
2    convert::Infallible,
3    fmt::{Debug, Display},
4    time::Duration,
5};
6
7pub use glam;
8
9pub mod rexports {
10    pub use glam;
11    pub use glam_traits_ext;
12    pub use ndarray;
13    pub use num_traits;
14    pub use smallvec;
15}
16
17mod fk;
18mod path;
19mod q;
20mod traj;
21mod validator;
22mod validator_dynamic;
23
24pub use fk::{
25    BoxFK, ContinuousFKChain, FKChain, IkOutcome, IkSolutions, IkSolver, JointSpec, KinScalar,
26    KinSpec, check_finite,
27};
28pub use path::{RobotPath, SRobotPath};
29pub use q::{RobotQ, SRobotQ, SRobotQLike, robotq};
30pub use traj::{RobotTraj, SRobotTraj};
31#[doc(hidden)]
32pub use validator::BatchLimits;
33pub use validator::{
34    FromFlattened, JointValidator, Leaf, MaybeValidator, Validator, ValidatorAnd, ValidatorContext,
35    ValidatorNot, ValidatorOr,
36};
37pub use validator_dynamic::DynamicJointValidator;
38
39use crate::validator::ValidatorRet;
40
41#[derive(Debug, Clone, thiserror::Error)]
42pub enum DekeError {
43    #[error("Expected {expected} joints, but found {found}")]
44    ShapeMismatch { expected: usize, found: usize },
45    #[error("Path has {0} waypoints, needs at least 2")]
46    PathTooShort(usize),
47    #[error("Joints contain non-finite values")]
48    JointsNonFinite,
49    #[error("Self-collision detected between joints {0} and {1}")]
50    SelfCollision(i16, i16),
51    #[error("Environment collision detected between joint {0} and object {1}")]
52    EnvironmentCollision(i16, i16),
53    #[error("Joints exceed their limits")]
54    ExceedJointLimits,
55    #[error("Out of iterations")]
56    OutOfIterations,
57    #[error("Locked-prefix constraint violated at waypoint {waypoint} joint {joint}")]
58    LockedPrefixViolation { waypoint: u32, joint: u8 },
59    #[error("Boundary conditions not parallel to path tangent (residual {0})")]
60    BoundaryInfeasible(f32),
61    #[error("Path has consecutive zero-length segments")]
62    DuplicateWaypoints,
63    #[error("Retimer failed: {0}")]
64    RetimerFailed(String),
65    #[error(
66        "Retimer output exceeds {limit_type} limit on dof {dof}: observed {observed_value}, limit {limit_value} (dt_in={dt_in:?})"
67    )]
68    ExceedsDynamicsLimits {
69        dt_in: Duration,
70        limit_type: &'static str,
71        dof: u8,
72        limit_value: f64,
73        observed_value: f64,
74    },
75    #[error(
76        "URDF joint at index {index} has an unexpected type: expected {expected}, found {found}"
77    )]
78    URDFJointTypeMismatch {
79        index: usize,
80        expected: &'static str,
81        found: &'static str,
82    },
83    #[error("URDFChain<{expected}> requires {expected} revolute joints, found {found}")]
84    URDFRevoluteCountMismatch { expected: usize, found: usize },
85    #[error("IkSolver failed to converge: {0}")]
86    IkSolverFailed(f64),
87    #[error("inverse kinematics is not viable for this chain: {0}")]
88    IkNotViable(String),
89    #[error("Super error")]
90    SuperError,
91}
92
93impl From<Infallible> for DekeError {
94    fn from(_: Infallible) -> Self {
95        unreachable!()
96    }
97}
98
99pub type DekeResult<T> = Result<T, DekeError>;
100
101pub trait Planner<const N: usize, F: KinScalar = f32, R: ValidatorRet = ()>: Sized {
102    type Diagnostic: Display + Debug;
103    type Config;
104    type Waypoints;
105
106    fn plan<E: Into<DekeError>, V: Validator<N, R, F>>(
107        &self,
108        config: &Self::Config,
109        waypoints: &Self::Waypoints,
110        validator: &V,
111        ctx: &V::Context<'_>,
112    ) -> (DekeResult<SRobotPath<N, F>>, Self::Diagnostic);
113}
114
115pub trait Retimer<const N: usize, F: KinScalar = f32, R: ValidatorRet = ()>: Sized {
116    type Diagnostic: Display + Debug;
117    type Constraints;
118
119    fn retime<V: Validator<N, R, F>>(
120        &self,
121        constraints: &Self::Constraints,
122        path: &SRobotPath<N, F>,
123        validator: &V,
124        ctx: &V::Context<'_>,
125    ) -> (DekeResult<SRobotTraj<N, F>>, Self::Diagnostic);
126}
deke_types/lib.rs

deke_types/
lib.rs
