pub struct Eta3Trajectory { /* private fields */ }Expand description
Eta^3 spline trajectory: a path with a jerk-limited velocity profile.
Implementations§
Source§impl Eta3Trajectory
impl Eta3Trajectory
Sourcepub fn new(segments: Vec<Eta3PathSegment>, config: TrajectoryConfig) -> Self
pub fn new(segments: Vec<Eta3PathSegment>, config: TrajectoryConfig) -> Self
Build a trajectory from path segments and kinematic constraints.
Sourcepub fn total_time(&self) -> f64
pub fn total_time(&self) -> f64
Total trajectory time [s].
Sourcepub fn calc_traj_point(&self, time: f64) -> TrajectoryState
pub fn calc_traj_point(&self, time: f64) -> TrajectoryState
Evaluate the trajectory state at a given time.
Sourcepub fn sample(&self, num_points: usize) -> Vec<TrajectoryState>
pub fn sample(&self, num_points: usize) -> Vec<TrajectoryState>
Sample the full trajectory at uniform time intervals.
Returns a vector of TrajectoryState at num_points evenly spaced times
from 0 to total_time.
Trait Implementations§
Source§impl Clone for Eta3Trajectory
impl Clone for Eta3Trajectory
Source§fn clone(&self) -> Eta3Trajectory
fn clone(&self) -> Eta3Trajectory
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 Eta3Trajectory
impl RefUnwindSafe for Eta3Trajectory
impl Send for Eta3Trajectory
impl Sync for Eta3Trajectory
impl Unpin for Eta3Trajectory
impl UnsafeUnpin for Eta3Trajectory
impl UnwindSafe for Eta3Trajectory
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.