Struct PathIntegralConstraint 

pub struct PathIntegralConstraint { /* private fields */ }

Path integral constraint for trajectory optimization

Implementations

impl PathIntegralConstraint

pub fn new( name: impl Into<String>, cost_fn: fn(&Array1<f32>, &Array1<f32>, f32) -> f32, max_cost: f32, ) -> Self

Create a new path integral constraint

pub fn observe(&mut self, time: f32, state: Array1<f32>)

Add trajectory point

pub fn check(&self) -> bool

Check constraint

pub fn violation(&self) -> f32

Compute violation

pub fn get_path_cost(&self) -> f32

Get current path cost

pub fn name(&self) -> &str

Get name

pub fn reset(&mut self)

Reset trajectory

pub fn trajectory_length(&self) -> usize

Get trajectory length

Trait Implementations

impl Clone for PathIntegralConstraint

fn clone(&self) -> PathIntegralConstraint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PathIntegralConstraint

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

Formats the value using the given formatter.