pub struct PathDerivatives {
pub q: DMatrix<f64>,
pub dq: Option<DMatrix<f64>>,
pub ddq: Option<DMatrix<f64>>,
pub dddq: Option<DMatrix<f64>>,
}Expand description
Output of path evaluation.
dq, ddq, dddq are None when the evaluation did not request them
(e.g. evaluate_q only fills q; evaluate_up_to_2nd fills q/dq/ddq).
Fields§
§q: DMatrix<f64>Position samples with shape (dim, s.len()).
dq: Option<DMatrix<f64>>First derivative samples dq/ds, populated by second- and third-order evaluation.
ddq: Option<DMatrix<f64>>Second derivative samples d^2q/ds^2, populated by second- and third-order evaluation.
dddq: Option<DMatrix<f64>>Third derivative samples d^3q/ds^3, populated only by third-order evaluation.
Trait Implementations§
Auto Trait Implementations§
impl Freeze for PathDerivatives
impl RefUnwindSafe for PathDerivatives
impl Send for PathDerivatives
impl Sync for PathDerivatives
impl Unpin for PathDerivatives
impl UnwindSafe for PathDerivatives
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Converts
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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
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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The inverse inclusion map: attempts to construct
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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.