Trait FullTrajectory 

pub trait FullTrajectory<X, T, S1, S2, const N: usize>
where
    T: Trajectory<X, N>,
    S1: Storage<X, Const<N>>,
    S2: Storage<X, Const<N>>,
{
    // Required methods
    fn start(&self) -> &Vector<X, Const<N>, S1>;
    fn end(&self) -> &Vector<X, Const<N>, S2>;
    fn trajectory(&self) -> &T;
    fn cost(&self) -> X;
    fn interpolate(&self, t: X) -> SVector<X, N>;
}

Genericly stored trajectory, implemented by FullTraj and FullTrajRef

Generic parameter S details what kind of nalgebra storage is being used

Required Methods

fn start(&self) -> &Vector<X, Const<N>, S1>

The starting coordinate of the trajectory

fn end(&self) -> &Vector<X, Const<N>, S2>

The ending coordinate of the trajectory

fn trajectory(&self) -> &T

The extra Trajectory

fn cost(&self) -> X

The cost to move along the trajectory

fn interpolate(&self, t: X) -> SVector<X, N>

Interpolate a coordinate between the start and end points

Start point is assumed to be at t = 0.0 and end point at t = 1.0

Implementors

impl<'a, X, T, S1, S2, const N: usize> FullTrajectory<X, T, S1, S2, N> for FullTrajRef<'a, X, T, S1, S2, N>

where T: Trajectory<X, N>, S1: Storage<X, Const<N>>, S2: Storage<X, Const<N>>,

impl<X, T, S1, S2, const N: usize> FullTrajectory<X, T, S1, S2, N> for FullTraj<X, T, S1, S2, N>

where X: Scalar, T: Trajectory<X, N>, S1: Storage<X, Const<N>>, S2: Storage<X, Const<N>>,