Module path 

Path abstraction for trajectory planning.

The main entry point is Path. Pick the constructor by the path data you own:

You have	Use	Notes
Analytic formula q(s)	Path::from_parametric	Computes derivatives up to third order by Jet3 automatic differentiation.
Waypoint positions	Path::from_waypoints	Builds a spline from a (dim x n_points) waypoint matrix.
Explicit q/dq/ddq evaluator	Path::from_evaluator_2nd	Use for TOPP2/COPP2 or other workflows that do not need jerk. See PathEvaluator2nd.
Explicit q/dq/ddq/dddq evaluator	Path::from_evaluator_3rd	Use for TOPP3/COPP3 workflows. See PathEvaluator3rd.

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

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.