Struct PoseGraph 

pub struct PoseGraph { /* private fields */ }

Pose graph state machine

Implementations

impl PoseGraph

pub fn new(initial_state: &str, initial_params: PoseParams) -> Self

pub fn add_node(&mut self, node: PoseNode)

pub fn add_transition(&mut self, transition: PoseTransition)

pub fn node_count(&self) -> usize

pub fn transition_count(&self) -> usize

pub fn current_state(&self) -> &str

pub fn is_transitioning(&self) -> bool

pub fn transition_progress(&self) -> f32

pub fn go_to(&mut self, state: &str) -> bool

Trigger a transition to the named state. Returns false if no transition is defined or already in that state.

pub fn update(&mut self, dt: f32)

Update the state machine by dt seconds

pub fn check_triggers(&mut self, params: &PoseParams)

Check and auto-trigger transitions based on param values

pub fn evaluate(&self) -> PoseParams

Get current interpolated parameter values

pub fn reachable_states(&self) -> Vec<&str>

Get all reachable states from current via BFS