Trait PathEvaluator3rd 

pub trait PathEvaluator3rd: PathEvaluator2nd {
    // Required method
    fn evaluate_up_to_3rd(
        &self,
        s: &[f64],
        q: &mut [f64],
        dq: &mut [f64],
        ddq: &mut [f64],
        dddq: &mut [f64],
    ) -> Result<(), PathError>;
}

User-provided path evaluator with explicit derivatives up to third order.

This extends PathEvaluator2nd with jerk-level path derivatives. Use it when the path will be sampled by TOPP3/COPP3 workflows or any API that calls Path::evaluate_up_to_3rd.

See Path::from_evaluator_3rd for a complete constructor example.

Required Methods

fn evaluate_up_to_3rd( &self, s: &[f64], q: &mut [f64], dq: &mut [f64], ddq: &mut [f64], dddq: &mut [f64], ) -> Result<(), PathError>

Evaluate q, dq, ddq, and dddq at all supplied path parameters.

All output buffers have length dim() * s.len() and use column-major layout.

Implementors