Struct SRobotPath 

pub struct SRobotPath<const N: usize> { /* private fields */ }

Statically-sized robot path backed by Vec<SRobotQ<N>>.

SRobotPath is guranteed to have at least 2 waypoints, so it always has a defined start and end configuration.

Implementations

impl<const N: usize> SRobotPath<N>

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

pub fn new_prechecked( first: SRobotQ<N>, last: SRobotQ<N>, middle: Vec<SRobotQ<N>>, ) -> Self

pub fn from_two(start: SRobotQ<N>, goal: SRobotQ<N>) -> Self

pub fn len(&self) -> usize

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

pub fn first(&self) -> &SRobotQ<N>

pub fn last(&self) -> &SRobotQ<N>

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

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

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

pub fn push(&mut self, q: SRobotQ<N>)

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

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

pub fn reverse(&mut self)

pub fn reversed(&self) -> Self

pub fn arc_length(&self) -> f32

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

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

pub fn max_segment_length(&self) -> f32

pub fn max_joint_step(&self) -> f32

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

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

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

pub fn to_robot_path(&self) -> RobotPath

Trait Implementations

impl<const N: usize> AsRef<[SRobotQ<N>]> for SRobotPath<N>

fn as_ref(&self) -> &[SRobotQ<N>]

Converts this type into a shared reference of the (usually inferred) input type.

impl<const N: usize> Clone for SRobotPath<N>

fn clone(&self) -> SRobotPath<N>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize> Debug for SRobotPath<N>

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

Formats the value using the given formatter.

impl<const N: usize> From<&SRobotPath<N>> for RobotPath

fn from(sp: &SRobotPath<N>) -> Self

Converts to this type from the input type.

impl<const N: usize> From<SRobotPath<N>> for RobotPath

fn from(sp: SRobotPath<N>) -> Self

Converts to this type from the input type.

impl<const N: usize> Index<usize> for SRobotPath<N>

type Output = SRobotQ<N>

The returned type after indexing.

fn index(&self, i: usize) -> &SRobotQ<N>

Performs the indexing (container[index]) operation.

impl<const N: usize> IndexMut<usize> for SRobotPath<N>

fn index_mut(&mut self, i: usize) -> &mut SRobotQ<N>

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

impl<'a, const N: usize> IntoIterator for &'a SRobotPath<N>

type Item = &'a SRobotQ<N>

The type of the elements being iterated over.

type IntoIter = Iter<'a, SRobotQ<N>>

Which kind of iterator are we turning this into?

fn into_iter(self) -> Self::IntoIter

Creates an iterator from a value.

impl<const N: usize> IntoIterator for SRobotPath<N>

type Item = SRobotQ<N>

The type of the elements being iterated over.

type IntoIter = IntoIter<SRobotQ<N>>

Which kind of iterator are we turning this into?

fn into_iter(self) -> Self::IntoIter

Creates an iterator from a value.

impl<const N: usize> TryFrom<&[SRobotQ<N>]> for SRobotPath<N>

type Error = DekeError

The type returned in the event of a conversion error.

fn try_from(waypoints: &[SRobotQ<N>]) -> Result<Self, Self::Error>

Performs the conversion.

impl<const N: usize> TryFrom<&ArrayBase<OwnedRepr<f32>, Dim<[usize; 2]>>> for SRobotPath<N>

type Error = DekeError

The type returned in the event of a conversion error.

fn try_from(arr: &RobotPath) -> Result<Self, Self::Error>

Performs the conversion.

impl<const N: usize> TryFrom<&Vec<SRobotQ<N>>> for SRobotPath<N>

type Error = DekeError

The type returned in the event of a conversion error.

fn try_from(waypoints: &Vec<SRobotQ<N>>) -> Result<Self, Self::Error>

Performs the conversion.

impl<const N: usize> TryFrom<ArrayBase<OwnedRepr<f32>, Dim<[usize; 2]>>> for SRobotPath<N>

type Error = DekeError

The type returned in the event of a conversion error.

fn try_from(arr: RobotPath) -> Result<Self, Self::Error>

Performs the conversion.

impl<const N: usize> TryFrom<Vec<SRobotQ<N>>> for SRobotPath<N>

type Error = DekeError

The type returned in the event of a conversion error.

fn try_from(waypoints: Vec<SRobotQ<N>>) -> Result<Self, Self::Error>

Performs the conversion.