Struct cartesian_trajectories::PoseGenerator [−][src]
pub struct PoseGenerator(_);
Struct that wraps a function that generates a pose
Implementations
impl PoseGenerator
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impl PoseGenerator
[src]pub fn new(
pose_generator_function: Box<dyn FnMut(&Isometry3<f64>, f64) -> Isometry3<f64>>
) -> Self
[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
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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]
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 PoseGeneratorprogress
- 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
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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
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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
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impl Mul<PoseGenerator> for PoseGenerator
[src]Auto Trait Implementations
impl !RefUnwindSafe for PoseGenerator
impl !Send for PoseGenerator
impl !Sync for PoseGenerator
impl Unpin for PoseGenerator
impl !UnwindSafe for PoseGenerator
Blanket Implementations
impl<T> BorrowMut<T> for T where
T: ?Sized,
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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>,