Struct LinearSegment 

pub struct LinearSegment {
    pub start: Pose,
    pub length: f64,
}

Available on crate feature path-traits only.

A straight-line segment starting at start with given length.

The heading stays constant along the segment.

Fields

start: Pose

Starting pose (position and heading).

length: f64

Arc-length of the segment.

Trait Implementations

impl Clone for LinearSegment

fn clone(&self) -> LinearSegment

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Curved for LinearSegment

type Curvature = f64

The type representing curvature (scalar in 2D, vector in 3D).

fn curvature_at(&self, s: f64) -> Result<Self::Curvature, Self::Error>

Curvature at arc-length s.

impl Debug for LinearSegment

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

Formats the value using the given formatter.

impl FrenetFrame for LinearSegment

type Frame = (Vec2, Vec2)

Frame type, e.g. (Tangent, Normal) in 2D or (T, N, B) in 3D.

fn frame_at(&self, s: f64) -> Result<Self::Frame, Self::Error>

Frenet frame at arc-length s.

impl Heading for LinearSegment

fn heading_at(&self, s: f64) -> Result<f64, Self::Error>

Planar heading angle (radians) at arc-length s.

impl ParametricPath for LinearSegment

fn sample_t(&self, t: f64) -> Result<Self::Point, Self::Error>

Sample the path at normalized parameter t ∈ [0, 1].

fn t_to_s(&self, t: Self::Scalar) -> Self::Scalar

Convert normalized parameter t to arc-length s.

fn s_to_t(&self, s: Self::Scalar) -> Self::Scalar

Convert arc-length s to normalized parameter t.

impl Path for LinearSegment

type Point = Point2

The point type representing positions on the path.

type Error = PathError<f64>

The error type for fallible operations. Must be convertible from PathError<Self::Scalar>.

type Scalar = f64

The scalar type for arc-length, parameter, and distance computations.

fn length(&self) -> f64

Total arc-length of the path.

fn sample_at(&self, s: f64) -> Result<Self::Point, Self::Error>

Sample the path at arc-length s ∈ [0, length].

fn start(&self) -> Result<Self::Point, Self::Error>

The start point of the path, equivalent to sample_at(0).

fn end(&self) -> Result<Self::Point, Self::Error>

The end point of the path, equivalent to sample_at(length).

fn domain(&self) -> RangeInclusive<Self::Scalar>

The valid domain for arc-length sampling: [0, length].

impl Project for LinearSegment

fn project(&self, p: Self::Point) -> Result<f64, Self::Error>

Find the arc-length s of the point on the path closest to p.

fn closest_point(&self, p: Self::Point) -> Result<Self::Point, Self::Error>

Return the closest point on the path to p.

impl Tangent for LinearSegment

fn tangent_at( &self, s: f64, ) -> Result<<Self::Point as Point>::Vector, Self::Error>

Unit tangent vector at arc-length s.

impl Copy for LinearSegment

impl PathSegment for LinearSegment