Struct Trajectory

Source

pub struct Trajectory { /* private fields */ }

Expand description

A time-parameterized trajectory with sampling support.

Stores a sequence of TrajectoryPoints and provides methods for sampling the trajectory at arbitrary times with interpolation.

§Sampling

Use sample to get the trajectory state at any time. The method interpolates between stored points for smooth tracking.

Implementations§

Source §

impl Trajectory

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pub const fn new() -> Self

Creates an empty trajectory.

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pub const fn from_points(points: Vec<TrajectoryPoint>) -> Self

Creates a trajectory from time-ordered points.

§Arguments

points - Vector of trajectory points, must be in ascending time order

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pub fn points(&self) -> &[TrajectoryPoint]

Returns a read-only view of trajectory points.

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pub fn total_time(&self) -> Option<QTime>

Returns the total trajectory duration.

§Returns

The time of the last point, or None if the trajectory is empty.

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pub fn push(&mut self, point: TrajectoryPoint)

Adds a point to the end of the trajectory.

Points should be added in ascending time order.

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pub fn sample(&self, time: QTime) -> Option<TrajectoryPoint>

Samples the trajectory at the given time with interpolation.

Returns the interpolated trajectory state at the specified time. If the time is outside the trajectory bounds, the nearest endpoint is returned.

§Arguments

time - Time from trajectory start

§Returns

The interpolated trajectory point, or None if the trajectory is empty.

§Interpolation

Position and heading are linearly interpolated. Heading interpolation takes the shortest angular path.

Source

pub fn from_cubic_bezier( p0: Vector2<f64>, p1: Vector2<f64>, p2: Vector2<f64>, p3: Vector2<f64>, total_time: QTime, samples: usize, linear_velocity: f64, ) -> Self

Creates a trajectory by sampling a cubic Bézier curve.

Generates a trajectory by sampling a cubic Bezier spline at regular intervals. The heading is derived from the curve tangent, and angular velocity is estimated from heading changes between samples.

§Arguments

p0 - Start point (meters)
p1 - First control point (meters)
p2 - Second control point (meters)
p3 - End point (meters)
total_time - Total trajectory duration
samples - Number of points to generate
linear_velocity - Constant linear velocity for all points (m/s)

§Returns

A trajectory with samples points along the Bézier curve.

§Example

// S-curve trajectory
let traj = Trajectory::from_cubic_bezier(
    Vector2::new(0.0, 0.0),
    Vector2::new(1.0, 0.0),
    Vector2::new(0.0, 1.0),
    Vector2::new(1.0, 1.0),
    QTime::from_sec(2.0),
    50,
    0.8,
);