Struct MotionScalarExecution 

pub struct MotionScalarExecution { /* private fields */ }

A single scalar track plus its policy-resolved execution metadata.

Implementations

impl MotionScalarExecution

pub fn start( plan: MotionExecutionPlan, from: f32, target: f32, initial_velocity: f32, started_at: Duration, ) -> Self

Starts a scalar execution from an already resolved motion plan.

pub fn start_resolved( input: MotionPolicyInput, from: f32, target: f32, initial_velocity: f32, started_at: Duration, ) -> Self

Resolves policy input and starts a scalar execution.

pub const fn plan(&self) -> &MotionExecutionPlan

Returns the resolved execution plan.

pub const fn track(&self) -> &MotionScalarTrack

Returns the underlying scalar track.

pub const fn model(&self) -> MotionModel

Returns the model that should execute after policy resolution.

pub const fn policy_report(&self) -> &MotionPolicyReport

Returns the policy report produced for the requested model.

pub const fn state(&self) -> MotionExecutionState

Returns the policy-resolved execution state.

pub fn sample_at(&self, now: Duration) -> MotionScalarExecutionSample

Samples the execution at deterministic elapsed time.

pub fn sample_clock( &self, clock: MotionClockSample, ) -> MotionScalarExecutionSample

Samples the execution at a deterministic adapter clock sample.

pub fn sample_since( &self, started_at: Instant, now: Instant, ) -> MotionScalarExecutionSample

Samples the execution from adapter instants while keeping deterministic elapsed-time semantics in the controller layer.

Trait Implementations

impl Clone for MotionScalarExecution

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MotionScalarExecution

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

Formats the value using the given formatter.

impl PartialEq for MotionScalarExecution

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for MotionScalarExecution