pub struct CatmullRomPlanner {
pub path: Vec<(f64, f64)>,
pub yaw: Vec<f64>,
pub curvature: Vec<f64>,
}Expand description
Convenience wrapper matching the planner pattern used in
CubicSplinePlanner.
Fields§
§path: Vec<(f64, f64)>Generated path [x, y].
yaw: Vec<f64>Yaw angle at each path point [rad].
curvature: Vec<f64>Approximate curvature at each path point [1/m].
Implementations§
Source§impl CatmullRomPlanner
impl CatmullRomPlanner
pub fn new() -> Self
Sourcepub fn planning(
&mut self,
waypoints_x: Vec<f64>,
waypoints_y: Vec<f64>,
points_per_segment: usize,
param: Parameterisation,
) -> bool
pub fn planning( &mut self, waypoints_x: Vec<f64>, waypoints_y: Vec<f64>, points_per_segment: usize, param: Parameterisation, ) -> bool
Run the planner.
§Arguments
waypoints_x- x coordinates of waypoints.waypoints_y- y coordinates of waypoints.points_per_segment- number of output points per segment.param- parameterisation strategy.
Returns true on success.
Trait Implementations§
Source§impl Clone for CatmullRomPlanner
impl Clone for CatmullRomPlanner
Source§fn clone(&self) -> CatmullRomPlanner
fn clone(&self) -> CatmullRomPlanner
Returns a duplicate of the value. Read more
1.0.0 · 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 CatmullRomPlanner
impl Debug for CatmullRomPlanner
Auto Trait Implementations§
impl Freeze for CatmullRomPlanner
impl RefUnwindSafe for CatmullRomPlanner
impl Send for CatmullRomPlanner
impl Sync for CatmullRomPlanner
impl Unpin for CatmullRomPlanner
impl UnsafeUnpin for CatmullRomPlanner
impl UnwindSafe for CatmullRomPlanner
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.