Struct SplinePath 

pub struct SplinePath {
    pub order: usize,
    pub s_min: f64,
    pub s_max: f64,
    pub out_of_range_mode: OutOfRangeMode,
    /* private fields */
}

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

Polynomial order used for each spline segment.

s_min: f64

Lower endpoint of the path parameter range.

s_max: f64

Upper endpoint of the path parameter range.

out_of_range_mode: OutOfRangeMode

Behavior when evaluating outside [s_min, s_max].

Implementations

impl SplinePath

pub fn from_waypoints( waypoints: &DMatrix<f64>, cfg: &SplineConfig, ) -> Result<Self, PathError>

Build spline coefficients from a waypoint matrix of shape (dim, n_points).

pub fn from_waypoints_view( waypoints: DMatrixView<'_, f64>, cfg: &SplineConfig, ) -> Result<Self, PathError>

Build spline coefficients from a borrowed waypoint matrix view.

This accepts nalgebra views such as waypoints.as_view() and compatible strided column-major views. See SplinePath::from_waypoints for the owned-matrix convenience API and shared behavior.

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 : only q_col is written; dq_col / ddq_col / dddq_col are ignored
• 2 : q_col, dq_col, ddq_col are written; dddq_col is ignored
• 3 : 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.