Struct SplineConfig 

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>>,
}

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.

Most callers use this type through Path::from_waypoints rather than constructing SplinePath directly.

Example

The example below customizes the waypoint parameter range and endpoint derivative conditions for a two-dimensional quintic spline.

use copp::path::{OutOfRangeMode, Parametrization, Path, SplineConfig};
use nalgebra::DMatrix;

let waypoints = DMatrix::from_row_slice(
    2,
    3,
    &[
        0.0, 0.5, 1.0,
        0.0, 0.2, 0.0,
    ],
);

// For order 5, m = 2, so each endpoint state is `(dim x 2)`:
// column 0 is velocity and column 1 is acceleration.
let start_state = DMatrix::from_row_slice(2, 2, &[0.0, 0.0, 0.0, 0.0]);
let end_state = DMatrix::from_row_slice(2, 2, &[0.0, 0.0, 0.0, 0.0]);

let cfg = SplineConfig {
    order: 5,
    parametrization: Parametrization::Uniform,
    s_min: 0.0,
    s_max: 2.0,
    out_of_range_mode: OutOfRangeMode::Error,
    start_state: Some(start_state),
    end_state: Some(end_state),
};

let path = Path::from_waypoints(&waypoints, cfg)?;
assert_eq!(path.dim(), 2);

Fields

order: usize

Spline order: must be an odd number >= 3.

parametrization: Parametrization

Waypoint parameter assignment policy.

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].

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

impl Default for SplineConfig

fn default() -> Self

Returns the “default value” for a type.