Struct CompressedSegment 

pub struct CompressedSegment { /* private fields */ }

A segment in a compressed trajectory

Compressed segments use variable-length encoding where each axis can have 0, 1, 3, or 7 coefficients depending on the complexity of motion along that axis.

Implementations

impl CompressedSegment

pub fn new( duration: f32, x: Vec<f32>, y: Vec<f32>, z: Vec<f32>, yaw: Vec<f32>, ) -> Result<Self>

Create a new compressed segment

Arguments

• duration - Duration of this segment in seconds
• x - X polynomial coefficients (must be 0, 1, 3, or 7 elements)
• y - Y polynomial coefficients (must be 0, 1, 3, or 7 elements)
• z - Z polynomial coefficients (must be 0, 1, 3, or 7 elements)
• yaw - Yaw polynomial coefficients (must be 0, 1, 3, or 7 elements)

Errors

Returns an error if any element vector has an invalid length

pub fn pack(&self) -> Result<Vec<u8>>

Pack this segment into bytes for transmission

Returns an error if any coordinate is out of the representable range.

Trait Implementations

impl Clone for CompressedSegment

fn clone(&self) -> CompressedSegment

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CompressedSegment

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

Formats the value using the given formatter.