oxmpl_js/base/
path.rs

1// Copyright (c) 2025 Ross Gardiner, Junior Sundar
2//
3// SPDX-License-Identifier: BSD-3-Clause
4
5use crate::base::js_state_convert::*;
6use js_sys::Array;
7use oxmpl::base::{
8    planner::Path as OxmplPath,
9    state::{CompoundState, RealVectorState, SE2State, SE3State, SO2State, SO3State},
10};
11use wasm_bindgen::prelude::*;
12
13pub enum PathVariant {
14    RealVector(OxmplPath<RealVectorState>),
15    SO2(OxmplPath<SO2State>),
16    SO3(OxmplPath<SO3State>),
17    Compound(OxmplPath<CompoundState>),
18    SE2(OxmplPath<SE2State>),
19    SE3(OxmplPath<SE3State>),
20}
21
22#[wasm_bindgen(js_name = Path)]
23pub struct JsPath {
24    pub(crate) inner: PathVariant,
25}
26
27#[wasm_bindgen(js_class = Path)]
28impl JsPath {
29    #[wasm_bindgen(js_name = getStates)]
30    pub fn get_states(&self) -> Array {
31        match &self.inner {
32            PathVariant::RealVector(path) => path.0.iter().map(|s| s.to_js_value()).collect(),
33            PathVariant::SO2(path) => path.0.iter().map(|s| s.to_js_value()).collect(),
34            PathVariant::SO3(path) => path.0.iter().map(|s| s.to_js_value()).collect(),
35            PathVariant::Compound(path) => path.0.iter().map(|s| s.to_js_value()).collect(),
36            PathVariant::SE2(path) => path.0.iter().map(|s| s.to_js_value()).collect(),
37            PathVariant::SE3(path) => path.0.iter().map(|s| s.to_js_value()).collect(),
38        }
39    }
40
41    #[wasm_bindgen(js_name = getLength)]
42    pub fn get_length(&self) -> usize {
43        match &self.inner {
44            PathVariant::RealVector(path) => path.0.len(),
45            PathVariant::SO2(path) => path.0.len(),
46            PathVariant::SO3(path) => path.0.len(),
47            PathVariant::Compound(path) => path.0.len(),
48            PathVariant::SE2(path) => path.0.len(),
49            PathVariant::SE3(path) => path.0.len(),
50        }
51    }
52}
53
54impl From<OxmplPath<RealVectorState>> for JsPath {
55    fn from(path: OxmplPath<RealVectorState>) -> Self {
56        Self {
57            inner: PathVariant::RealVector(path),
58        }
59    }
60}
61
62impl From<OxmplPath<SO2State>> for JsPath {
63    fn from(path: OxmplPath<SO2State>) -> Self {
64        Self {
65            inner: PathVariant::SO2(path),
66        }
67    }
68}
69
70impl From<OxmplPath<SO3State>> for JsPath {
71    fn from(path: OxmplPath<SO3State>) -> Self {
72        Self {
73            inner: PathVariant::SO3(path),
74        }
75    }
76}
77
78impl From<OxmplPath<CompoundState>> for JsPath {
79    fn from(path: OxmplPath<CompoundState>) -> Self {
80        Self {
81            inner: PathVariant::Compound(path),
82        }
83    }
84}
85
86impl From<OxmplPath<SE2State>> for JsPath {
87    fn from(path: OxmplPath<SE2State>) -> Self {
88        Self {
89            inner: PathVariant::SE2(path),
90        }
91    }
92}
93
94impl From<OxmplPath<SE3State>> for JsPath {
95    fn from(path: OxmplPath<SE3State>) -> Self {
96        Self {
97            inner: PathVariant::SE3(path),
98        }
99    }
100}
oxmpl_js/base/path.rs

oxmpl_js/base/
path.rs
