Struct cartesian_trajectories::CartesianTrajectory [−][src]
pub struct CartesianTrajectory { /* fields omitted */ }
Represents a trajectory in cartesian space. It contains a function which maps a start pose and time to the pose at that time and weather the trajectory is finished.
Implementations
impl CartesianTrajectory
[src]
impl CartesianTrajectory
[src]pub fn new(
pose_generator: PoseGenerator,
velocity_profile: VelocityProfile
) -> Self
[src]
pub fn new(
pose_generator: PoseGenerator,
velocity_profile: VelocityProfile
) -> Self
[src]Create a new CartesianTrajectory by specifying a pose generator and a velocity profile
pub fn with_custom_velocity_profile_mapping(
pose_generator: PoseGenerator,
velocity_profile_mapping: VelocityProfileMapping
) -> Self
[src]
pub fn with_custom_velocity_profile_mapping(
pose_generator: PoseGenerator,
velocity_profile_mapping: VelocityProfileMapping
) -> Self
[src]Create a new CartesianTrajectory by specifying a pose generator and a custom velocity profile
pub fn get_pose(
&mut self,
start_pose: &Isometry3<f64>,
time: Duration
) -> CartesianTrajectoryOutput
[src]
pub fn get_pose(
&mut self,
start_pose: &Isometry3<f64>,
time: Duration
) -> CartesianTrajectoryOutput
[src]Evaluates the cartesian trajectory at a certain point in time
Arguments
start_pose
- the pose at the start time of the PoseGeneratortime
- a duration which is between 0 and the total duration of the trajectory.
pub fn get_total_duration(&self) -> Duration
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pub fn get_total_duration(&self) -> Duration
[src]Returns the total duration of the trajectory.
Auto Trait Implementations
impl !RefUnwindSafe for CartesianTrajectory
impl !Send for CartesianTrajectory
impl !Sync for CartesianTrajectory
impl Unpin for CartesianTrajectory
impl !UnwindSafe for CartesianTrajectory
Blanket Implementations
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]pub fn borrow_mut(&mut self) -> &mut T
[src]
pub fn borrow_mut(&mut self) -> &mut T
[src]Mutably borrows from an owned value. Read more
impl<T> Same<T> for T
impl<T> Same<T> for T
type Output = T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
pub fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
impl<V, T> VZip<V> for T where
V: MultiLane<T>,