Struct SRobotPath 

pub struct SRobotPath<const N: usize, F: Float = f32> { /* private fields */ }

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

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

Implementations

impl<const N: usize, F: Float> SRobotPath<N, F>

pub fn try_new(waypoints: Vec<SRobotQ<N, F>>) -> DekeResult<Self>

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

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

pub fn len(&self) -> usize

pub fn is_empty(&self) -> bool

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

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

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

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

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

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

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

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

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

pub fn reverse(&mut self)

pub fn reversed(&self) -> Self

pub fn arc_length(&self) -> F

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

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

pub fn max_segment_length(&self) -> F

pub fn max_joint_step(&self) -> F

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

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

pub fn deduplicate(&self, tol: F) -> Self

Removes consecutive duplicate waypoints within tol distance of each other.

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

pub fn to_robot_path(&self) -> RobotPath<F>

Trait Implementations

impl<const N: usize, F: Float> AsRef<SRobotPath<N, F>> for SRobotTraj<N, F>

fn as_ref(&self) -> &SRobotPath<N, F>

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

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

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

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

impl<const N: usize, F: Clone + Float> Clone for SRobotPath<N, F>

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize, F: Debug + Float> Debug for SRobotPath<N, F>

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

Formats the value using the given formatter.

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

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

Converts to this type from the input type.

impl<const N: usize, T: Float> From<SRobotPath<N, T>> for RobotPath<T>

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

Converts to this type from the input type.

impl<const N: usize> From<SRobotPath<N, f64>> for SRobotPath<N, f32>

fn from(path: SRobotPath<N, f64>) -> Self

Converts to this type from the input type.

impl<const N: usize> From<SRobotPath<N, f64>> for RobotPath<f32>

fn from(sp: SRobotPath<N, f64>) -> Self

Converts to this type from the input type.

impl<const N: usize> From<SRobotPath<N>> for SRobotPath<N, f64>

fn from(path: SRobotPath<N, f32>) -> Self

Converts to this type from the input type.

impl<const N: usize> From<SRobotPath<N>> for RobotPath<f64>

fn from(sp: SRobotPath<N, f32>) -> Self

Converts to this type from the input type.

impl<const N: usize, F: Float> From<SRobotTraj<N, F>> for SRobotPath<N, F>

fn from(traj: SRobotTraj<N, F>) -> Self

Converts to this type from the input type.

impl<const N: usize, T: Float> Index<usize> for SRobotPath<N, T>

type Output = SRobotQ<N, T>

The returned type after indexing.

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

Performs the indexing (container[index]) operation.

impl<const N: usize, T: Float> IndexMut<usize> for SRobotPath<N, T>

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

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

impl<const N: usize, T: Float> IntoIterator for SRobotPath<N, T>

type Item = SRobotQ<N, T>

The type of the elements being iterated over.

type IntoIter = IntoIter<SRobotQ<N, T>>

Which kind of iterator are we turning this into?

fn into_iter(self) -> Self::IntoIter

Creates an iterator from a value.

impl<'a, const N: usize, T: Float> IntoIterator for &'a SRobotPath<N, T>

type Item = &'a SRobotQ<N, T>

The type of the elements being iterated over.

type IntoIter = Iter<'a, SRobotQ<N, T>>

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, F: Float> TryFrom<&ArrayBase<OwnedRepr<F>, Dim<[usize; 2]>>> for SRobotPath<N, F>

type Error = DekeError

The type returned in the event of a conversion error.

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

Performs the conversion.

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

type Error = DekeError

The type returned in the event of a conversion error.

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

Performs the conversion.

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

type Error = DekeError

The type returned in the event of a conversion error.

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

Performs the conversion.

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

type Error = DekeError

The type returned in the event of a conversion error.

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

Performs the conversion.

impl<const N: usize> TryFrom<ArrayBase<OwnedRepr<f32>, Dim<[usize; 2]>>> for SRobotPath<N, f64>

type Error = DekeError

The type returned in the event of a conversion error.

fn try_from(arr: RobotPath<f32>) -> Result<Self, Self::Error>

Performs the conversion.

impl<const N: usize> TryFrom<ArrayBase<OwnedRepr<f64>, Dim<[usize; 2]>>> for SRobotPath<N, f32>

type Error = DekeError

The type returned in the event of a conversion error.

fn try_from(arr: RobotPath<f64>) -> Result<Self, Self::Error>

Performs the conversion.

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

type Error = DekeError

The type returned in the event of a conversion error.

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

Performs the conversion.