Struct cartesian_trajectories::PoseGenerator[−][src]

pub struct PoseGenerator(_);

Struct that wraps a function that generates a pose

Implementations

impl PoseGenerator[src]

pub fn new(
    pose_generator_function: Box<dyn FnMut(&Isometry3<f64>, f64) -> Isometry3<f64>>
) -> Self[src]

generates a new PoseGenerator by defining a function that takes an initial position and a progress between 0 and 1 and returns a position.

pub fn from_parts(
    position_generator: PositionGenerator,
    orientation_generator: OrientationGenerator
) -> Self[src]

Generates a PoseGenerator from a position and an orientation generator.

pub fn get_pose(
    &mut self,
    start: &Isometry3<f64>,
    progress: f64
) -> Isometry3<f64>[src]

Evaluates the function of the PoseGenerator

Arguments

  • start_pose - the pose at the start time of the PoseGenerator
  • progress - a progress from 0, indicating the start, and 1 , indicating the end of the trajectory.

pub fn get_approximate_length(
    &mut self,
    start_pose: &Isometry3<f64>,
    sample_size: usize
) -> f64[src]

returns the approximate length of the trajectory in meter. The rotation is ignored.

pub fn append(
    self,
    start_pose: &Isometry3<f64>,
    other_generator: PoseGenerator
) -> PoseGenerator[src]

concatenates two pose generators. Be aware that concatenating PoseGenerators can result in unsmooth trajectories. For example, if you append a circle PoseGenerator to a linear PoseGenerator, there will be an infinite jerk at the transition as the acceleration suddenly changes.

Arguments

  • start_pose - a rough estimation of the start pose of the trajectory.
  • other_generator - the pose generator that should be appended

Trait Implementations

impl Mul<PoseGenerator> for PoseGenerator[src]

type Output = PoseGenerator

The resulting type after applying the * operator.

fn mul(self, rhs: Self) -> Self::Output[src]

Performs the * operation. Read more

Auto Trait Implementations

Blanket Implementations

impl<T> Any for T where
    T: 'static + ?Sized, [src]

pub fn type_id(&self) -> TypeId[src]

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T where
    T: ?Sized, [src]

pub fn borrow(&self) -> &T[src]

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T where
    T: ?Sized, [src]

pub fn borrow_mut(&mut self) -> &mut T[src]

Mutably borrows from an owned value. Read more

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

Performs the conversion.

impl<T, U> Into<U> for T where
    U: From<T>, [src]

pub fn into(self) -> U[src]

Performs the conversion.

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>, 

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

Checks if self is actually part of its subset T (and can be converted to it).

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

The inclusion map: converts self to the equivalent element of its superset.

impl<T, U> TryFrom<U> for T where
    U: Into<T>, [src]

type Error = Infallible

The type returned in the event of a conversion error.

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]

Performs the conversion.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, [src]

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]

Performs the conversion.

impl<V, T> VZip<V> for T where
    V: MultiLane<T>, 

pub fn vzip(self) -> V