pub struct ClothoidPath {
pub start: Pose2D,
pub goal: Pose2D,
pub kappa0: f64,
pub kappa1: f64,
pub length: f64,
pub path: Path2D,
pub yaw: Vec<f64>,
pub curvature: Vec<f64>,
}Expand description
A clothoid (Euler spiral) path connecting two poses.
Fields§
§start: Pose2DStart pose
goal: Pose2DEnd pose
kappa0: f64Initial curvature
kappa1: f64Curvature rate (sharpness)
length: f64Total arc length
path: Path2DSampled path points
yaw: Vec<f64>Heading at each sample point
curvature: Vec<f64>Curvature at each sample point
Trait Implementations§
Source§impl Clone for ClothoidPath
impl Clone for ClothoidPath
Source§fn clone(&self) -> ClothoidPath
fn clone(&self) -> ClothoidPath
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 moreAuto Trait Implementations§
impl Freeze for ClothoidPath
impl RefUnwindSafe for ClothoidPath
impl Send for ClothoidPath
impl Sync for ClothoidPath
impl Unpin for ClothoidPath
impl UnsafeUnpin for ClothoidPath
impl UnwindSafe for ClothoidPath
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.