pub struct SplinePath {
pub order: usize,
pub s_min: f64,
pub s_max: f64,
pub out_of_range_mode: OutOfRangeMode,
/* private fields */
}Expand description
Piecewise-polynomial path in normalised segment coordinates.
Coefficients are stored in column-major blocks by dimension:
[dim0_seg0.., dim0_seg1.., ..., dim1_seg0.., ...].
Fields§
§order: usize§s_min: f64§s_max: f64§out_of_range_mode: OutOfRangeModeImplementations§
Source§impl SplinePath
impl SplinePath
Sourcepub fn from_waypoints(
waypoints: &DMatrix<f64>,
cfg: &SplineConfig,
) -> Result<Self, PathError>
pub fn from_waypoints( waypoints: &DMatrix<f64>, cfg: &SplineConfig, ) -> Result<Self, PathError>
Build spline coefficients from a waypoint matrix of shape (dim, n_points).
Sourcepub fn eval_at<const ORDER: u8>(
&self,
s: f64,
_dim: usize,
q_col: &mut [f64],
dq_col: &mut [f64],
ddq_col: &mut [f64],
dddq_col: &mut [f64],
)
pub fn eval_at<const ORDER: u8>( &self, s: f64, _dim: usize, q_col: &mut [f64], dq_col: &mut [f64], ddq_col: &mut [f64], dddq_col: &mut [f64], )
Evaluate position and up to ORDER derivatives at path parameter s
for all dim joints, writing results into the supplied column slices.
ORDER controls which slices must be valid:
0: onlyq_colis written;dq_col / ddq_col / dddq_colare ignored2:q_col,dq_col,ddq_colare written;dddq_colis ignored3: all four slices are written
Callers in path_core.rs specialise this with eval_at::<0>, eval_at::<2>,
and eval_at::<3>, replacing the former eval_at_q_only, eval_at_up_to_2nd,
and eval_at_full methods.
Auto Trait Implementations§
impl Freeze for SplinePath
impl RefUnwindSafe for SplinePath
impl Send for SplinePath
impl Sync for SplinePath
impl Unpin for SplinePath
impl UnwindSafe for SplinePath
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Converts
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Converts
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§impl<SS, SP> SupersetOf<SS> for SPwhere
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impl<SS, SP> SupersetOf<SS> for SPwhere
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§fn to_subset(&self) -> Option<SS>
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Use with care! Same as
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fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.