Struct SRobotTraj 

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

Statically-sized robot trajectory: an SRobotPath sampled uniformly at dt.

Implementations

impl<const N: usize, T: Float> SRobotTraj<N, T>

pub fn new(dt: Duration, path: SRobotPath<N, T>) -> Self

pub fn try_from_waypoints( dt: Duration, waypoints: Vec<SRobotQ<N, T>>, ) -> DekeResult<Self>

pub fn dt(&self) -> Duration

pub fn set_dt(&mut self, dt: Duration)

pub fn path(&self) -> &SRobotPath<N, T>

pub fn path_mut(&mut self) -> &mut SRobotPath<N, T>

pub fn into_path(self) -> SRobotPath<N, T>

pub fn len(&self) -> usize

pub fn is_empty(&self) -> bool

pub fn dof(&self) -> usize

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

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

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

pub fn duration(&self) -> Duration

pub fn time_at(&self, index: usize) -> Duration

pub fn iter(&self) -> Iter<'_, SRobotQ<N, T>>

pub fn iter_timed( &self, ) -> impl Iterator<Item = (Duration, &SRobotQ<N, T>)> + '_

pub fn sample_at_time(&self, t: Duration) -> Option<SRobotQ<N, T>>

Samples the trajectory at a given wall-clock time via linear interpolation between adjacent waypoints. Times outside [0, duration()] are clamped.

pub fn velocity_at(&self, i: usize) -> Option<SRobotQ<N, T>>

Finite-difference velocity at sample index i, in joint-units per second. Uses forward difference at the start, backward at the end, central elsewhere.

pub fn acceleration_at(&self, i: usize) -> Option<SRobotQ<N, T>>

Finite-difference acceleration at sample index i, in joint-units per second^2.

pub fn max_joint_velocity(&self) -> T

pub fn max_joint_acceleration(&self) -> T

pub fn reverse(&mut self)

Reverses the trajectory in place (swaps start and end, preserves dt).

pub fn reversed(&self) -> Self

pub fn rescale_time(&mut self, scale: f64)

Rescales the trajectory by changing dt. scale > 1.0 slows it down; < 1.0 speeds it up.

pub fn to_robot_traj(&self) -> RobotTraj<T>

Trait Implementations

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

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

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

impl<const N: usize, T: Clone + Float> Clone for SRobotTraj<N, T>

fn clone(&self) -> SRobotTraj<N, T>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize, T: Debug + Float> Debug for SRobotTraj<N, T>

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

Formats the value using the given formatter.

impl<const N: usize, T: Float> From<SRobotTraj<N, T>> for RobotTraj<T>

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

Converts to this type from the input type.

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

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

Converts to this type from the input type.

impl<const N: usize, T: Float> Index<usize> for SRobotTraj<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<'a, const N: usize, T: Float> IntoIterator for &'a SRobotTraj<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, T: Float> TryFrom<RobotTraj<T>> for SRobotTraj<N, T>

type Error = DekeError

The type returned in the event of a conversion error.

fn try_from(traj: RobotTraj<T>) -> Result<Self, Self::Error>

Performs the conversion.