Struct RobotPath 

pub struct RobotPath { /* private fields */ }

An ordered sequence of joint configurations representing a robot path.

Implementations

impl RobotPath

pub fn new(waypoints: Vec<RobotQ>) -> DekeResult<Self>

pub fn empty() -> Self

pub fn with_capacity(cap: usize) -> Self

pub fn len(&self) -> usize

pub fn is_empty(&self) -> bool

pub fn ndof(&self) -> usize

Number of joints per waypoint, or 0 if the path is empty.

pub fn get(&self, index: usize) -> Option<&RobotQ>

pub fn first(&self) -> Option<&RobotQ>

pub fn last(&self) -> Option<&RobotQ>

pub fn iter(&self) -> Iter<'_, RobotQ>

pub fn iter_mut(&mut self) -> IterMut<'_, RobotQ>

pub fn segments(&self) -> impl Iterator<Item = (&RobotQ, &RobotQ)>

Iterator over consecutive pairs of waypoints.

pub fn push(&mut self, q: RobotQ) -> DekeResult<()>

pub fn pop(&mut self) -> Option<RobotQ>

pub fn clear(&mut self)

pub fn truncate(&mut self, len: usize)

pub fn reverse(&mut self)

pub fn reversed(&self) -> Self

pub fn arc_length(&self) -> f32

Total arc length (sum of Euclidean distances between consecutive waypoints).

pub fn segment_lengths(&self) -> Vec<f32>

Euclidean distance of each segment.

pub fn cumulative_lengths(&self) -> Vec<f32>

Cumulative arc length at each waypoint, starting at 0.0.

pub fn max_segment_length(&self) -> f32

Maximum Euclidean distance between any two consecutive waypoints.

pub fn max_joint_step(&self) -> f32

Maximum per-joint deviation (L-inf norm) across any segment.

pub fn sample(&self, t: f32) -> Option<RobotQ>

Linearly interpolate along the path by normalized parameter t in [0, 1]. Returns None if the path has fewer than 2 waypoints.

pub fn densify(&self, max_dist: f32) -> Self

Subdivide every segment so that no segment exceeds max_dist.

pub fn simplify(&self, tol: f32) -> Self

Remove waypoints that are within tol of the line between their neighbors (Ramer-Douglas-Peucker in joint space).

pub fn map_waypoints(&self, f: impl Fn(&RobotQ) -> RobotQ) -> Self

Apply a function to every waypoint.

Trait Implementations

impl Clone for RobotPath

fn clone(&self) -> RobotPath

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RobotPath

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

Formats the value using the given formatter.

impl FromIterator<ArrayBase<OwnedRepr<f32>, Dim<[usize; 1]>>> for RobotPath

fn from_iter<I: IntoIterator<Item = RobotQ>>(iter: I) -> Self

Creates a value from an iterator.

impl Index<usize> for RobotPath

type Output = ArrayBase<OwnedRepr<f32>, Dim<[usize; 1]>>

The returned type after indexing.

fn index(&self, i: usize) -> &RobotQ

Performs the indexing (container[index]) operation.

impl IndexMut<usize> for RobotPath

fn index_mut(&mut self, i: usize) -> &mut RobotQ

Performs the mutable indexing (container[index]) operation.

impl<'a> IntoIterator for &'a RobotPath

type Item = &'a ArrayBase<OwnedRepr<f32>, Dim<[usize; 1]>>

The type of the elements being iterated over.

type IntoIter = Iter<'a, ArrayBase<OwnedRepr<f32>, Dim<[usize; 1]>>>

Which kind of iterator are we turning this into?

fn into_iter(self) -> Self::IntoIter

Creates an iterator from a value.

impl IntoIterator for RobotPath

type Item = ArrayBase<OwnedRepr<f32>, Dim<[usize; 1]>>

The type of the elements being iterated over.

type IntoIter = IntoIter<ArrayBase<OwnedRepr<f32>, Dim<[usize; 1]>>>

Which kind of iterator are we turning this into?

fn into_iter(self) -> Self::IntoIter

Creates an iterator from a value.