Struct PathSig 

pub struct PathSig<const D: usize>
where
    U<D>: EfdDim<D>,
{
    pub curve: Vec<[f64; D]>,
    pub t: Vec<f64>,
    pub geo: GeoVar<Rot<D>, D>,
}

Path signature with the target position.

Use to present an “original path”. Can be compared with Efd by Efd::err_sig().

See also get_norm_t().

Fields

curve: Vec<[f64; D]>

Normalized curve

t: Vec<f64>

Normalized time parameters

geo: GeoVar<Rot<D>, D>

Geometric variables

Implementations

impl<const D: usize> PathSig<D>

where U<D>: EfdDim<D>,

pub fn new<C>(curve: C, is_open: bool) -> Self

where C: Curve<D>,

Get the time parameter t of each point coordinate and the normalized geometric variables of the curve.

This function is faster than building Efd since it only calculates two harmonics.

let curve = [[0., 0.], [1., 0.], [1., 1.], [0., 1.]];
let sig = efd::PathSig::new(curve, true);

pub fn as_t(&self) -> &[f64]

Get the reference of normalized time parameters.

pub fn as_geo(&self) -> &GeoVar<Rot<D>, D>

Get the reference of geometric variables.

Trait Implementations

impl<const D: usize> Clone for PathSig<D>

where U<D>: EfdDim<D>,

fn clone(&self) -> PathSig<D>

Returns a duplicate of the value.

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

Performs copy-assignment from source.