Enum InterpolationMode 

pub enum InterpolationMode<'a> {
    UniformTimeGrid(f64, f64, bool),
    NonUniformTimeGrid(&'a [f64]),
}

Time-grid interpolation policy used when converting trajectory profiles to time-domain samples.

Import via use copp::InterpolationMode;; this is the single canonical path. All solver submodules (solver::topp2_ra, solver::topp3_lp, etc.) accept this type in their interpolation helpers (t_to_s_topp2, t_to_s_topp3, etc.). Time-grid policy used when interpolating path-parameterization outputs.

This enum describes how target sample times are provided to interpolation routines after a trajectory has been parameterized.

Output behavior

Interpolation helpers such as t_to_s_topp2 and t_to_s_topp3 preserve the requested sampling policy:

• UniformTimeGrid emits samples t0 + i * dt up to the final time, and may append the exact final sample when include_final is true.
• NonUniformTimeGrid returns one output value per caller-provided time stamp.
• Samples outside the computed trajectory time range are reported as NaN by the interpolation helpers.

Variants

UniformTimeGrid(f64, f64, bool)

Uniform sampling grid.

Tuple fields

• t0: time stamp of the first path station (s[0]).
• dt: constant sampling period (dt > 0 expected by callers).
• include_final: handling of non-integer final step.

Final-sample policy

If final time t_final is not an integer multiple of dt from t0:

• include_final = true: append one final sample exactly at t_final.
• include_final = false: stop at t0 + n\,dt, where n is the largest integer satisfying t0 + n\,dt \le t_final.

NonUniformTimeGrid(&'a [f64])

User-provided non-uniform sampling grid.

Tuple fields

• t_samples: strictly increasing time stamps.

Contract

Callers should provide an increasing grid and ensure the first sample is not earlier than the interpolation start time.