Function cartesian_trajectories::pose_generators::generate_circle_motion[−][src]

pub fn generate_circle_motion(
    center: Vector3<f64>, 
    normal: Unit<Vector3<f64>>, 
    start: Vector3<f64>, 
    rotation_angle: f64
) -> PositionGenerator

generates a PositionGenerator which represents a circle motion.

Arguments

  • center - the center of the circle
  • normal - rotation axis of the circle
  • start - start position of the circle
  • rotation_angle - angle in radians

The corresponding Position generator will rotate from the start around the center with the normal as axis of rotation a total amount of rotation_angle radians.

Panics

Panics if start and center are too close together (1e-7 units).

Note

The start position gets overwritten everytime you call the PositionGenerator with progress 0. That way it is not necessary that the start position is known at creation-time.