Module path 

Path abstraction for trajectory planning.

The main entry point is Path. It supports two construction modes and a uniform evaluation API: pick the one that fits your use case:

You have	Use
An analytic formula q(s)	Path::from_parametric
A set of waypoint positions	Path::from_waypoints
Explicit derivatives from an external evaluator	Path::from_evaluator_2nd / Path::from_evaluator_3rd

Once built, call one of the evaluation methods with a one-dimensional parameter slice:

Method	Output
Path::evaluate_q	position q only
Path::evaluate_up_to_2nd	q, dq, ddq
Path::evaluate_up_to_3rd	q, dq, ddq, dddq

Examples

Analytic path: automatic differentiation

use copp::path::{Path, sin, cos};
use copp::path::autodiff::Jet3;

// Build a 2-DOF path: q0 = sin(s), q1 = cos(s), s in [0, 1]
let path = Path::from_parametric(
    |s: Jet3| vec![sin(s), cos(s)],
    0.0, 1.0,
).unwrap();

// Evaluate at 5 uniformly-spaced parameter values
let s = [0.0, 0.25, 0.5, 0.75, 1.0];
let out = path.evaluate_up_to_3rd(&s).unwrap();
// out.q   : shape (2, 5)
// out.dq  : Some, shape (2, 5)   first derivative w.r.t. s
// out.dddq: Some, shape (2, 5)   third derivative w.r.t. s

Spline path: waypoint interpolation

use copp::path::{Path, SplineConfig};
use nalgebra::DMatrix;

// 2-DOF path with 5 waypoints; the spline passes exactly through each one.
// waypoints shape: (dim=2, n_points=5)
let waypoints = DMatrix::from_row_slice(2, 5, &[
    0.0, 0.25, 0.5, 0.75, 1.0,   // dim 0
    0.0, 0.1, -0.1, 0.2,  0.0,   // dim 1
]);
let path = Path::from_waypoints(&waypoints, SplineConfig::default()).unwrap();

let s = [0.0, 0.5, 1.0];
let out = path.evaluate_q(&s).unwrap();
// out.q shape (2, 3);  out.dq / ddq / dddq are all None

Re-exports

pub use autodiff::Jet3;

pub use autodiff::cos;

pub use autodiff::exp;

pub use autodiff::ln;

pub use autodiff::powi;

pub use autodiff::sin;

pub use autodiff::sqrt;

pub use spline::Parametrization;

pub use spline::SplineConfig;

Modules

autodiff

Third-order forward-mode automatic differentiation primitives.

spline

Waypoint-based spline path construction and evaluation kernels.

Structs

Path

Unified path abstraction over parametric, spline, and evaluator representations.

PathDerivatives

Output of path evaluation.

Enums

OutOfRangeMode

Policy for handling path queries outside the configured s range.

Traits

PathEvaluator

Compatibility alias for third-order explicit path evaluators.

PathEvaluator2nd

User-provided path evaluator with explicit derivatives up to second order.

PathEvaluator3rd

User-provided path evaluator with explicit derivatives up to third order.

Type Aliases

ParametricFn

Shared analytic path function used by Path::from_parametric.