dubins_paths/
lib.rs

1#![warn(missing_docs, clippy::pedantic, clippy::all, clippy::nursery)]
2#![allow(clippy::suboptimal_flops)]
3#![doc = include_str!("../README.md")]
4#![no_std]
5
6#[cfg(not(any(feature = "std", feature = "libm")))]
7compile_error!("Either the std or the libm feature is required");
8
9#[cfg(feature = "alloc")]
10extern crate alloc;
11
12#[cfg(feature = "std")]
13extern crate std;
14
15/// [`glam`] is a crate that provides vector types, and used to provide a more ergonomic API
16///
17/// It requries the `glam` feature to be enabled in order to be used within this crate
18#[cfg(feature = "glam")]
19pub extern crate glam;
20
21mod base;
22pub use base::*;
23
24/// `f32`-based implementation of Dubins paths
25pub mod f32;
26/// `f64`-based implementation of Dubins paths
27pub mod f64;
28
29#[cfg(test)]
30mod tests {
31    use super::{NoPathError, PathType, SegmentType, f32, f64};
32
33    #[test]
34    fn size_of_items() {
35        assert_eq!(size_of::<f32::PosRot>(), 12);
36        assert_eq!(size_of::<f64::PosRot>(), 24);
37        assert_eq!(size_of::<f32::DubinsPath>(), 32);
38        assert_eq!(size_of::<f64::DubinsPath>(), 64);
39        assert_eq!(size_of::<PathType>(), 1);
40        assert_eq!(size_of::<SegmentType>(), 1);
41        assert_eq!(size_of::<NoPathError>(), 0);
42    }
43
44    #[test]
45    fn mod2pi_test() {
46        assert!(f32::mod2pi(-f32::from_bits(1)) >= 0.);
47        assert!(f32::mod2pi(core::f32::consts::TAU).abs() < f32::EPSILON);
48        assert!(f64::mod2pi(-f64::from_bits(1)) >= 0.);
49        assert!(f64::mod2pi(core::f64::consts::TAU).abs() < f64::EPSILON);
50    }
51}
dubins_paths/lib.rs

dubins_paths/
lib.rs
