pub struct SplineConfig {
pub order: usize,
pub parametrization: Parametrization,
pub s_min: f64,
pub s_max: f64,
pub out_of_range_mode: OutOfRangeMode,
pub start_state: Option<DMatrix<f64>>,
pub end_state: Option<DMatrix<f64>>,
}Expand description
Configuration for waypoint-spline path construction.
The default is a quintic spline on s in [0, 1] with zero endpoint
derivative boundary conditions and out-of-range errors.
Fields§
§order: usizeSpline order: must be an odd number >= 3.
parametrization: ParametrizationWaypoint parameter assignment policy.
s_min: f64Lower endpoint of the path parameter range.
s_max: f64Upper endpoint of the path parameter range.
out_of_range_mode: OutOfRangeModeBehavior when evaluating outside [s_min, s_max].
start_state: Option<DMatrix<f64>>Boundary derivatives at s_min: shape (dim, m) where m = (order-1)/2.
Column r (0-indexed) = (r+1)-th derivative value.
None = all-zero (default).
end_state: Option<DMatrix<f64>>Boundary derivatives at s_max: same shape as start_state.
None = all-zero (default).
Trait Implementations§
Auto Trait Implementations§
impl Freeze for SplineConfig
impl RefUnwindSafe for SplineConfig
impl Send for SplineConfig
impl Sync for SplineConfig
impl Unpin for SplineConfig
impl UnwindSafe for SplineConfig
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Converts
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Converts
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Checks if
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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.