Struct Trajectory 

pub struct Trajectory { /* private fields */ }

A complete trajectory

Implementations

impl Trajectory

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

Get the trajectory points

pub fn duration(&self) -> f64

Get the trajectory duration

pub fn method(&self) -> OptimizationMethod

Get the optimization method

pub fn len(&self) -> usize

Get the number of points in the trajectory

pub fn is_empty(&self) -> bool

Check if the trajectory is empty

pub fn sample(&self, t: f64) -> SpatialResult<TrajectoryPoint>

Sample the trajectory at a specific time

Arguments

• t - Time to sample at

Returns

• Interpolated trajectory point at time t

pub fn path_length(&self) -> f64

Compute the total path length

pub fn satisfies_velocity_constraints(&self, _maxvelocity: f64) -> bool

Check if the trajectory satisfies velocity constraints

pub fn satisfies_acceleration_constraints(&self, _maxacceleration: f64) -> bool

Check if the trajectory satisfies acceleration constraints

Trait Implementations

impl Clone for Trajectory

fn clone(&self) -> Trajectory

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Trajectory

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

Formats the value using the given formatter.