Struct efd::PosedEfd

pub struct PosedEfd<const D: usize>
where
    U<D>: EfdDim<D>,
{ /* private fields */ }

An open-curve shape with a pose described by EFD.

These are the same as Efd except that it has a pose, and the data are always normalized and readonly.

Start with PosedEfd::from_series() and its related methods.

Pose Representation

Pose is represented by an unit vector, which is rotated by the rotation of the original shape.

Implementations

impl PosedEfd<2>

pub fn from_angles<C>(curve: C, angles: &[f64]) -> Self

where C: Curve<2>,

Calculate the coefficients from a curve and its angles from each point.

pub fn from_angles_harmonic<C>( curve: C, angles: &[f64], harmonic: usize ) -> Self

where C: Curve<2>,

Calculate the coefficients from a curve and its angles from each point.

The harmonic is the number of the coefficients to be calculated.

impl<const D: usize> PosedEfd<D>

where U<D>: EfdDim<D>,

pub const fn from_parts_unchecked(efd: Efd<D>, posed: Efd<D>) -> Self

Create object from an Efd object.

Posed EFD is a special shape to describe the pose, efd is only used to describe this motion signature.

See also PosedEfd::into_inner().

pub fn from_series<C1, C2>(curve_p: C1, curve_q: C2) -> Self

where C1: Curve<D>, C2: Curve<D>,

Calculate the coefficients from two series of points.

The second series is the pose series, the curve2[i] has the same time as curve[i].

pub fn from_series_harmonic<C1, C2>( curve_p: C1, curve_q: C2, harmonic: usize ) -> Self

where C1: Curve<D>, C2: Curve<D>,

Calculate the coefficients from two series of points.

The harmonic is the number of the coefficients to be calculated.

pub fn from_uvec<C, V>(curve: C, vectors: V) -> Self

where C: Curve<D>, V: Curve<D>,

Calculate the coefficients from a curve and its unit vectors from each point.

If the unit vectors is not normalized, the length of the first vector will be used as the scaling factor.

pub fn from_uvec_harmonic<C, V>(curve: C, vectors: V, harmonic: usize) -> Self

where C: Curve<D>, V: Curve<D>,

Calculate the coefficients from a curve and its unit vectors from each point.

If the unit vectors is not normalized, the length of the first vector will be used as the scaling factor.

The harmonic is the number of the coefficients to be calculated.

pub fn fourier_power_anaysis<T>(self, threshold: T) -> Self

where Option<f64>: From<T> + Clone,

Use Fourier Power Anaysis (FPA) to reduce the harmonic number.

The default threshold is 99.99%.

See also Efd::fourier_power_anaysis().

Panics

Panics if the threshold is not in 0..1, or the harmonic is zero.

pub fn into_inner(self) -> (Efd<D>, Efd<D>)

Consume self and return the parts of this type. The first is the curve coefficients, and the second is the pose coefficients.

See also PosedEfd::from_parts_unchecked().

pub fn as_curve(&self) -> &Efd<D>

Get the reference of the curve coefficients.

pub fn as_pose(&self) -> &Efd<D>

Get the reference of the pose coefficients.

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

Get the reference of geometric variables.

pub fn harmonic(&self) -> usize

Get the harmonic number of the coefficients.

pub fn err(&self, rhs: &Self) -> f64

Calculate the error between two PosedEfd.

pub fn err_sig(&self, sig: &MotionSig<D>) -> f64

Calculate the error from a MotionSig.

Trait Implementations

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

where U<D>: EfdDim<D>,

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<const D: usize> Debug for PosedEfd<D>

where U<D>: EfdDim<D>,

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

Formats the value using the given formatter.