Struct efd::posed::MotionSig

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

Motion signature with the target position.

Used to present an “original motion”. Can be compared with PosedEfd by PosedEfd::err_sig().

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§curve: Vec<[f64; D]>

Normalized curve

§vectors: Vec<[f64; D]>

Normalized unit vectors

§t: Vec<f64>

Normalized time parameters

§geo: GeoVar<Rot<D>, D>

Geometric variables

Implementations§

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impl<const D: usize> MotionSig<D>
where U<D>: EfdDim<D>,

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pub fn new<C, V>(curve: C, vectors: V, is_open: bool) -> Self
where C: Curve<D>, V: Curve<D>,

Get the path signature and its target position from a curve and its unit vectors.

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

use efd::posed::{ang2vec, MotionSig};

let sig = MotionSig::new(curve, ang2vec(angles), true);

See also PathSig.

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

Get the reference of normalized time parameters.

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

Get the reference of geometric variables.

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impl<const D: usize> Clone for MotionSig<D>
where U<D>: EfdDim<D>,

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

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

Auto Trait Implementations§

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impl<const D: usize> !Freeze for MotionSig<D>

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impl<const D: usize> !RefUnwindSafe for MotionSig<D>

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impl<const D: usize> Send for MotionSig<D>

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impl<const D: usize> Sync for MotionSig<D>

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impl<const D: usize> !Unpin for MotionSig<D>

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impl<const D: usize> !UnwindSafe for MotionSig<D>

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Same for T

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type Output = T

Should always be Self
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impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).
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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.
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impl<T> ToOwned for T
where T: Clone,

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type Owned = T

The resulting type after obtaining ownership.
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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more
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fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more
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impl<T, U> TryFrom<U> for T
where U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.