scirs2_spatial::pathplanning::trajectory

Struct TrajectoryPoint

pub struct TrajectoryPoint {
    pub x: f64,
    pub y: f64,
    pub vx: f64,
    pub vy: f64,
    pub ax: f64,
    pub ay: f64,
    pub t: f64,
}

Expand description

A trajectory point with position, velocity, and acceleration

Fields§

§x: f64

X position

§y: f64

Y position

§vx: f64

X velocity

§vy: f64

Y velocity

§ax: f64

X acceleration

§ay: f64

Y acceleration

§t: f64

Time stamp

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impl TrajectoryPoint

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pub fn new(x: f64, y: f64, vx: f64, vy: f64, ax: f64, ay: f64) -> Self

Create a new trajectory point

§Arguments

x - X position
y - Y position
vx - X velocity
vy - Y velocity
ax - X acceleration
ay - Y acceleration

§Returns

A new TrajectoryPoint instance

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pub fn with_time( x: f64, y: f64, vx: f64, vy: f64, ax: f64, ay: f64, t: f64, ) -> Self

Create a new trajectory point with time

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pub fn speed(&self) -> f64

Get the speed (magnitude of velocity)

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pub fn acceleration_magnitude(&self) -> f64

Get the acceleration magnitude

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pub fn distance_to(&self, other: &TrajectoryPoint) -> f64

Get the distance to another point

Trait Implementations§

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impl Clone for TrajectoryPoint

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fn clone(&self) -> TrajectoryPoint

Returns a duplicate of the value. Read more

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

Performs copy-assignment from source. Read more

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impl Debug for TrajectoryPoint

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

Formats the value using the given formatter. Read more

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impl PartialEq for TrajectoryPoint

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fn eq(&self, other: &TrajectoryPoint) -> bool

Tests for self and other values to be equal, and is used by ==.

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fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

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impl Copy for TrajectoryPoint

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impl StructuralPartialEq for TrajectoryPoint

Auto Trait Implementations§

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impl UnwindSafe for TrajectoryPoint

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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