Struct TransformBuffer 

pub struct TransformBuffer<T: Copy + Debug + Default + 'static> { /* private fields */ }

Thread-safe wrapper around a transform buffer with concurrent access

Implementations

impl<T: Copy + Debug + Default + 'static> TransformBuffer<T>

pub fn new() -> Self

pub fn with_capacity(capacity: usize) -> Self

pub fn add_transform(&self, transform: StampedTransform<T>)

Add a transform to the buffer

pub fn get_latest_transform(&self) -> Option<StampedTransform<T>>

Get the latest transform in the buffer

pub fn get_time_range(&self) -> Option<CuTimeRange>

Get the time range of transforms in this buffer

pub fn get_transforms_in_range( &self, start_time: CuTime, end_time: CuTime, ) -> Vec<StampedTransform<T>>

Get transforms within a specific time range

pub fn get_closest_transform(&self, time: CuTime) -> Option<StampedTransform<T>>

Get the transform closest to the specified time

pub fn get_transforms_around( &self, time: CuTime, ) -> Option<(StampedTransform<T>, StampedTransform<T>)>

Get two transforms closest to the specified time, useful for velocity computation

pub fn compute_velocity_at_time( &self, time: CuTime, ) -> Option<VelocityTransform<T>>

where T: Default + Add<Output = T> + Sub<Output = T> + Mul<Output = T> + Div<Output = T> + NumCast,

Compute velocity at the specified time by differentiating transforms

Trait Implementations

impl<T: Clone + Copy + Debug + Default + 'static> Clone for TransformBuffer<T>

fn clone(&self) -> TransformBuffer<T>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Copy + Debug + Default + 'static> Default for TransformBuffer<T>

fn default() -> Self

Returns the “default value” for a type.