pub struct ClothoidPlanner {
pub config: ClothoidConfig,
}Expand description
Clothoid path planner.
Computes a clothoid curve (Euler spiral) that connects two poses with G1 continuity (matching position and heading at both endpoints).
Fields§
§config: ClothoidConfigImplementations§
Source§impl ClothoidPlanner
impl ClothoidPlanner
pub fn new(config: ClothoidConfig) -> Self
Sourcepub fn plan(
&self,
start: &Pose2D,
goal: &Pose2D,
) -> RoboticsResult<ClothoidPath>
pub fn plan( &self, start: &Pose2D, goal: &Pose2D, ) -> RoboticsResult<ClothoidPath>
Plan a clothoid path from start to goal.
Sourcepub fn plan_from_xy(
&self,
x0: f64,
y0: f64,
yaw0: f64,
x1: f64,
y1: f64,
yaw1: f64,
) -> RoboticsResult<ClothoidPath>
pub fn plan_from_xy( &self, x0: f64, y0: f64, yaw0: f64, x1: f64, y1: f64, yaw1: f64, ) -> RoboticsResult<ClothoidPath>
Plan a clothoid path from raw coordinates.
Trait Implementations§
Source§impl Clone for ClothoidPlanner
impl Clone for ClothoidPlanner
Source§fn clone(&self) -> ClothoidPlanner
fn clone(&self) -> ClothoidPlanner
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 ClothoidPlanner
impl RefUnwindSafe for ClothoidPlanner
impl Send for ClothoidPlanner
impl Sync for ClothoidPlanner
impl Unpin for ClothoidPlanner
impl UnsafeUnpin for ClothoidPlanner
impl UnwindSafe for ClothoidPlanner
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.