Struct bcar::BCar

pub struct BCar { /* fields omitted */ }

Bicycle car object.

Examples

let bc = bcar::BCar::default();
assert_eq!(bc, bcar::BCar::new(
    bcar::Pose::default(),
    bcar::Size::default(),
    bcar::Motion::default(),
));

let bc = bcar::BCar::new_xyh(1.0, 2.0, 3.0);
assert_eq!(bc.pose(), bcar::Pose::new(1.0, 2.0, 3.0));
let default_size = bcar::Size::new(11.8872, 2.165, 2.95, 3.9865, 5.049);
assert_eq!(bc.size(), default_size);
assert_eq!(bc.motion(), bcar::Motion::new(0.0, 0.0));

Implementations

impl BCar

pub fn new(pose: Pose, size: Size, motion: Motion) -> BCar

pub fn new_xyh(x: f64, y: f64, h: f64) -> BCar

Return new BCar.

Arguments

• x -- Horizontal coordinate of rear axle center.
• y -- Vertical coordinate of rear axle center.
• h -- The heading of the car in the interval [-pi, +pi] radians.

Examples

let bc = bcar::BCar::new_xyh(1.0, 2.0, 3.0);
let bc_pose = bc.pose();
assert_eq!(1.0, bc_pose.x);
assert_eq!(2.0, bc_pose.y);
assert_eq!(3.0, bc_pose.h);

pub fn default() -> BCar

Return default BCar.

Examples

let bc = bcar::BCar::default();
let p = bcar::Pose::default();
let s = bcar::Size::default();
let m = bcar::Motion::default();
assert_eq!(bc, bcar::BCar::new(p, s, m));

pub fn size(&self) -> Size

Return BCar size.

pub fn set_size(&mut self, s: Size)

Set BCar dimensions.

Arguments

• s -- New size of the car.

Examples

let size = bcar::Size::new(10.0, 2.0, 3.0, 4.0, 5.0);
let mut bc = bcar::BCar::new_xyh(1.0, 2.0, 3.0);
bc.set_size(size);
assert_eq!(bc.size(), size);

pub fn pose(&self) -> Pose

Return BCar pose.

pub fn set_pose(&mut self, p: Pose)

Set BCar pose.

Arguments

• p -- New pose of the car.

Examples

let pose = bcar::Pose::new(1.0, 4.0, 9.0);
let mut bc = bcar::BCar::new_xyh(1.0, 2.0, 3.0);
bc.set_pose(pose);
assert_eq!(bc.pose(), pose);

pub fn motion(&self) -> Motion

Return BCar motion.

pub fn set_motion(&mut self, m: Motion)

Set BCar motion.

Arguments

• m -- New motion of the car.

Examples

let m = bcar::Motion::new(10.0, 0.1);
let mut bc = bcar::BCar::new_xyh(1.0, 2.0, 3.0);
bc.set_motion(m);
assert_eq!(bc.motion(), m);

pub fn perfect_parking_slot_length(&self) -> f64

Return the length of the perfect parking slot.

The width of the slot is the same as the width of the car.

References

• Simon R. Blackburn The Geometry of Perfect Parking
• https://www.ma.rhul.ac.uk/SRBparking

pub fn drivable(&self, pose: Pose) -> bool

Return if it's possible to drive to the pose trivially.

Trivially in this context means to reach the pose with combination of line-arc-line segments, where arc is less than pi / 2.

Arguments

• pose -- Pose to drive to.

pub fn mtr(&self) -> f64

Compute minimum turning radius (MTR).

pub fn ccl(&self) -> Point

Compute MTR circle center on the left side of the car.

pub fn ccr(&self) -> Point

Compute MTR circle center on the right side of the car.

Trait Implementations

impl Clone for BCar

fn clone(&self) -> BCar

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for BCar

impl Debug for BCar

fn fmt(&self, f: &mut Formatter) -> Result

Formats the value using the given formatter.

impl Iterator for BCar

type Item = BCar

The type of the elements being iterated over.

fn next(&mut self) -> Option<Self::Item>

Return BCar new state.

Examples

let mut bc = bcar::BCar::default();
bc.set_motion(bcar::Motion::new(1.0, 0.0));
bc.next();
assert_eq!(bc, bcar::BCar::new(
    bcar::Pose::new(1.0, 0.0, 0.0),
    bcar::Size::default(),
    bcar::Motion::new(1.0, 0.0),
));

fn size_hint(&self) -> (usize, Option<usize>)

Returns the bounds on the remaining length of the iterator.

fn count(self) -> usize

Consumes the iterator, counting the number of iterations and returning it.

fn last(self) -> Option<Self::Item>

Consumes the iterator, returning the last element.

fn nth(&mut self, n: usize) -> Option<Self::Item>

Returns the nth element of the iterator.

fn step_by(self, step: usize) -> StepBy<Self>

Creates an iterator starting at the same point, but stepping by the given amount at each iteration.

fn chain<U>(self, other: U) -> Chain<Self, <U as IntoIterator>::IntoIter> where
    U: IntoIterator<Item = Self::Item>, 

Takes two iterators and creates a new iterator over both in sequence.

fn zip<U>(self, other: U) -> Zip<Self, <U as IntoIterator>::IntoIter> where
    U: IntoIterator, 

'Zips up' two iterators into a single iterator of pairs.

fn map<B, F>(self, f: F) -> Map<Self, F> where
    F: FnMut(Self::Item) -> B, 

Takes a closure and creates an iterator which calls that closure on each element.

fn for_each<F>(self, f: F) where
    F: FnMut(Self::Item), 

Calls a closure on each element of an iterator.

fn filter<P>(self, predicate: P) -> Filter<Self, P> where
    P: FnMut(&Self::Item) -> bool, 

Creates an iterator which uses a closure to determine if an element should be yielded.

fn filter_map<B, F>(self, f: F) -> FilterMap<Self, F> where
    F: FnMut(Self::Item) -> Option<B>, 

Creates an iterator that both filters and maps.

fn enumerate(self) -> Enumerate<Self>

Creates an iterator which gives the current iteration count as well as the next value.

fn peekable(self) -> Peekable<Self>

Creates an iterator which can use peek to look at the next element of the iterator without consuming it.

fn skip_while<P>(self, predicate: P) -> SkipWhile<Self, P> where
    P: FnMut(&Self::Item) -> bool, 

Creates an iterator that [skip]s elements based on a predicate.

fn take_while<P>(self, predicate: P) -> TakeWhile<Self, P> where
    P: FnMut(&Self::Item) -> bool, 

Creates an iterator that yields elements based on a predicate.

fn map_while<B, P>(self, predicate: P) -> MapWhile<Self, P> where
    P: FnMut(Self::Item) -> Option<B>, 

🔬 This is a nightly-only experimental API. (iter_map_while)

recently added

Creates an iterator that both yields elements based on a predicate and maps.

fn skip(self, n: usize) -> Skip<Self>

Creates an iterator that skips the first n elements.

fn take(self, n: usize) -> Take<Self>

Creates an iterator that yields its first n elements.

fn scan<St, B, F>(self, initial_state: St, f: F) -> Scan<Self, St, F> where
    F: FnMut(&mut St, Self::Item) -> Option<B>, 

An iterator adaptor similar to [fold] that holds internal state and produces a new iterator.

fn flat_map<U, F>(self, f: F) -> FlatMap<Self, U, F> where
    F: FnMut(Self::Item) -> U,
    U: IntoIterator, 

Creates an iterator that works like map, but flattens nested structure.

fn flatten(self) -> Flatten<Self> where
    Self::Item: IntoIterator, 

Creates an iterator that flattens nested structure.

fn fuse(self) -> Fuse<Self>

Creates an iterator which ends after the first [None].

fn inspect<F>(self, f: F) -> Inspect<Self, F> where
    F: FnMut(&Self::Item), 

Does something with each element of an iterator, passing the value on.

fn by_ref(&mut self) -> &mut Self

Borrows an iterator, rather than consuming it.

#[must_use = "if you really need to exhaust the iterator, consider `.for_each(drop)` instead"]fn collect<B>(self) -> B where
    B: FromIterator<Self::Item>, 

Transforms an iterator into a collection.

fn partition<B, F>(self, f: F) -> (B, B) where
    B: Default + Extend<Self::Item>,
    F: FnMut(&Self::Item) -> bool, 

Consumes an iterator, creating two collections from it.

fn partition_in_place<'a, T, P>(self, predicate: P) -> usize where
    P: FnMut(&T) -> bool,
    Self: DoubleEndedIterator<Item = &'a mut T>,
    T: 'a, 

🔬 This is a nightly-only experimental API. (iter_partition_in_place)

new API

Reorders the elements of this iterator in-place according to the given predicate, such that all those that return true precede all those that return false. Returns the number of true elements found.

fn is_partitioned<P>(self, predicate: P) -> bool where
    P: FnMut(Self::Item) -> bool, 

🔬 This is a nightly-only experimental API. (iter_is_partitioned)

new API

Checks if the elements of this iterator are partitioned according to the given predicate, such that all those that return true precede all those that return false.

fn try_fold<B, F, R>(&mut self, init: B, f: F) -> R where
    F: FnMut(B, Self::Item) -> R,
    R: Try<Ok = B>, 

An iterator method that applies a function as long as it returns successfully, producing a single, final value.

fn try_for_each<F, R>(&mut self, f: F) -> R where
    F: FnMut(Self::Item) -> R,
    R: Try<Ok = ()>, 

An iterator method that applies a fallible function to each item in the iterator, stopping at the first error and returning that error.

fn fold<B, F>(self, init: B, f: F) -> B where
    F: FnMut(B, Self::Item) -> B, 

An iterator method that applies a function, producing a single, final value.

fn fold_first<F>(self, f: F) -> Option<Self::Item> where
    F: FnMut(Self::Item, Self::Item) -> Self::Item, 

🔬 This is a nightly-only experimental API. (iterator_fold_self)

The same as fold(), but uses the first element in the iterator as the initial value, folding every subsequent element into it. If the iterator is empty, return None; otherwise, return the result of the fold.

fn all<F>(&mut self, f: F) -> bool where
    F: FnMut(Self::Item) -> bool, 

Tests if every element of the iterator matches a predicate.

fn any<F>(&mut self, f: F) -> bool where
    F: FnMut(Self::Item) -> bool, 

Tests if any element of the iterator matches a predicate.

fn find<P>(&mut self, predicate: P) -> Option<Self::Item> where
    P: FnMut(&Self::Item) -> bool, 

Searches for an element of an iterator that satisfies a predicate.

fn find_map<B, F>(&mut self, f: F) -> Option<B> where
    F: FnMut(Self::Item) -> Option<B>, 

Applies function to the elements of iterator and returns the first non-none result.

fn try_find<F, R>(
    &mut self,
    f: F
) -> Result<Option<Self::Item>, <R as Try>::Error> where
    F: FnMut(&Self::Item) -> R,
    R: Try<Ok = bool>, 

🔬 This is a nightly-only experimental API. (try_find)

new API

Applies function to the elements of iterator and returns the first true result or the first error.

fn position<P>(&mut self, predicate: P) -> Option<usize> where
    P: FnMut(Self::Item) -> bool, 

Searches for an element in an iterator, returning its index.

fn rposition<P>(&mut self, predicate: P) -> Option<usize> where
    P: FnMut(Self::Item) -> bool,
    Self: ExactSizeIterator + DoubleEndedIterator, 

Searches for an element in an iterator from the right, returning its index.

fn max(self) -> Option<Self::Item> where
    Self::Item: Ord, 

Returns the maximum element of an iterator.

fn min(self) -> Option<Self::Item> where
    Self::Item: Ord, 

Returns the minimum element of an iterator.

fn max_by_key<B, F>(self, f: F) -> Option<Self::Item> where
    B: Ord,
    F: FnMut(&Self::Item) -> B, 

Returns the element that gives the maximum value from the specified function.

fn max_by<F>(self, compare: F) -> Option<Self::Item> where
    F: FnMut(&Self::Item, &Self::Item) -> Ordering, 

Returns the element that gives the maximum value with respect to the specified comparison function.

fn min_by_key<B, F>(self, f: F) -> Option<Self::Item> where
    B: Ord,
    F: FnMut(&Self::Item) -> B, 

Returns the element that gives the minimum value from the specified function.

fn min_by<F>(self, compare: F) -> Option<Self::Item> where
    F: FnMut(&Self::Item, &Self::Item) -> Ordering, 

Returns the element that gives the minimum value with respect to the specified comparison function.

fn rev(self) -> Rev<Self> where
    Self: DoubleEndedIterator, 

Reverses an iterator's direction.

fn unzip<A, B, FromA, FromB>(self) -> (FromA, FromB) where
    FromA: Default + Extend<A>,
    FromB: Default + Extend<B>,
    Self: Iterator<Item = (A, B)>, 

Converts an iterator of pairs into a pair of containers.

fn copied<'a, T>(self) -> Copied<Self> where
    Self: Iterator<Item = &'a T>,
    T: 'a + Copy, 

Creates an iterator which copies all of its elements.

fn cloned<'a, T>(self) -> Cloned<Self> where
    Self: Iterator<Item = &'a T>,
    T: 'a + Clone, 

Creates an iterator which [clone]s all of its elements.

fn cycle(self) -> Cycle<Self> where
    Self: Clone, 

Repeats an iterator endlessly.

fn sum<S>(self) -> S where
    S: Sum<Self::Item>, 

Sums the elements of an iterator.

fn product<P>(self) -> P where
    P: Product<Self::Item>, 

Iterates over the entire iterator, multiplying all the elements

fn cmp<I>(self, other: I) -> Ordering where
    I: IntoIterator<Item = Self::Item>,
    Self::Item: Ord, 

Lexicographically compares the elements of this Iterator with those of another.

fn cmp_by<I, F>(self, other: I, cmp: F) -> Ordering where
    F: FnMut(Self::Item, <I as IntoIterator>::Item) -> Ordering,
    I: IntoIterator, 

🔬 This is a nightly-only experimental API. (iter_order_by)

Lexicographically compares the elements of this Iterator with those of another with respect to the specified comparison function.

fn partial_cmp<I>(self, other: I) -> Option<Ordering> where
    I: IntoIterator,
    Self::Item: PartialOrd<<I as IntoIterator>::Item>, 

Lexicographically compares the elements of this Iterator with those of another.

fn partial_cmp_by<I, F>(self, other: I, partial_cmp: F) -> Option<Ordering> where
    F: FnMut(Self::Item, <I as IntoIterator>::Item) -> Option<Ordering>,
    I: IntoIterator, 

🔬 This is a nightly-only experimental API. (iter_order_by)

Lexicographically compares the elements of this Iterator with those of another with respect to the specified comparison function.

fn eq<I>(self, other: I) -> bool where
    I: IntoIterator,
    Self::Item: PartialEq<<I as IntoIterator>::Item>, 

Determines if the elements of this Iterator are equal to those of another.

fn eq_by<I, F>(self, other: I, eq: F) -> bool where
    F: FnMut(Self::Item, <I as IntoIterator>::Item) -> bool,
    I: IntoIterator, 

🔬 This is a nightly-only experimental API. (iter_order_by)

Determines if the elements of this Iterator are equal to those of another with respect to the specified equality function.

fn ne<I>(self, other: I) -> bool where
    I: IntoIterator,
    Self::Item: PartialEq<<I as IntoIterator>::Item>, 

Determines if the elements of this Iterator are unequal to those of another.

fn lt<I>(self, other: I) -> bool where
    I: IntoIterator,
    Self::Item: PartialOrd<<I as IntoIterator>::Item>, 

Determines if the elements of this Iterator are lexicographically less than those of another.

fn le<I>(self, other: I) -> bool where
    I: IntoIterator,
    Self::Item: PartialOrd<<I as IntoIterator>::Item>, 

Determines if the elements of this Iterator are lexicographically less or equal to those of another.

fn gt<I>(self, other: I) -> bool where
    I: IntoIterator,
    Self::Item: PartialOrd<<I as IntoIterator>::Item>, 

Determines if the elements of this Iterator are lexicographically greater than those of another.

fn ge<I>(self, other: I) -> bool where
    I: IntoIterator,
    Self::Item: PartialOrd<<I as IntoIterator>::Item>, 

Determines if the elements of this Iterator are lexicographically greater than or equal to those of another.

fn is_sorted(self) -> bool where
    Self::Item: PartialOrd<Self::Item>, 

🔬 This is a nightly-only experimental API. (is_sorted)

new API

Checks if the elements of this iterator are sorted.

fn is_sorted_by<F>(self, compare: F) -> bool where
    F: FnMut(&Self::Item, &Self::Item) -> Option<Ordering>, 

🔬 This is a nightly-only experimental API. (is_sorted)

new API

Checks if the elements of this iterator are sorted using the given comparator function.

fn is_sorted_by_key<F, K>(self, f: F) -> bool where
    F: FnMut(Self::Item) -> K,
    K: PartialOrd<K>, 

🔬 This is a nightly-only experimental API. (is_sorted)

new API

Checks if the elements of this iterator are sorted using the given key extraction function.

impl PartialEq<BCar> for BCar

fn eq(&self, other: &BCar) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &BCar) -> bool

This method tests for !=.

impl StructuralPartialEq for BCar