pub struct MppiWaypointTrack2D {
pub waypoints: Vec<(f64, f64)>,
/* private fields */
}Expand description
Polyline track helper for MPPI progress-based terminal values.
Fields§
§waypoints: Vec<(f64, f64)>Implementations§
Source§impl MppiWaypointTrack2D
impl MppiWaypointTrack2D
pub fn new(waypoints: Vec<(f64, f64)>) -> RoboticsResult<Self>
pub fn total_length(&self) -> f64
pub fn goal(&self) -> (f64, f64)
pub fn point_at_progress(&self, progress: f64) -> RoboticsResult<(f64, f64)>
pub fn project(&self, x: f64, y: f64) -> RoboticsResult<MppiTrackProjection2D>
pub fn remaining_distance(&self, x: f64, y: f64) -> RoboticsResult<f64>
pub fn terminal_value_grid( &self, width: usize, height: usize, origin_x: f64, origin_y: f64, resolution: f64, progress_weight: f64, lateral_weight: f64, ) -> RoboticsResult<MppiTerminalValueGrid2D>
Trait Implementations§
Source§impl Clone for MppiWaypointTrack2D
impl Clone for MppiWaypointTrack2D
Source§fn clone(&self) -> MppiWaypointTrack2D
fn clone(&self) -> MppiWaypointTrack2D
Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source. Read moreSource§impl Debug for MppiWaypointTrack2D
impl Debug for MppiWaypointTrack2D
Source§impl PartialEq for MppiWaypointTrack2D
impl PartialEq for MppiWaypointTrack2D
Source§fn eq(&self, other: &MppiWaypointTrack2D) -> bool
fn eq(&self, other: &MppiWaypointTrack2D) -> bool
Tests for
self and other values to be equal, and is used by ==.impl StructuralPartialEq for MppiWaypointTrack2D
Auto Trait Implementations§
impl Freeze for MppiWaypointTrack2D
impl RefUnwindSafe for MppiWaypointTrack2D
impl Send for MppiWaypointTrack2D
impl Sync for MppiWaypointTrack2D
impl Unpin for MppiWaypointTrack2D
impl UnsafeUnpin for MppiWaypointTrack2D
impl UnwindSafe for MppiWaypointTrack2D
Blanket Implementations§
Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
T: Clone,
Source§impl<T> IntoEither for T
impl<T> IntoEither for T
Source§fn into_either(self, into_left: bool) -> Either<Self, Self>
fn into_either(self, into_left: bool) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left is true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read moreSource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left(&self) returns true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read more§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self from the equivalent element of its
superset. Read more§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self is actually part of its subset T (and can be converted to it).§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.