Struct DubinsPath 

pub struct DubinsPath { /* private fields */ }

A complete Dubins path

Implementations

impl DubinsPath

pub fn length(&self) -> f64

Get the total length of the path

Returns

• Total path length

pub fn path_type(&self) -> DubinsPathType

Get the path type

Returns

• The type of Dubins path

pub fn segments(&self) -> &[DubinsSegment; 3]

Get the path segments

Returns

• Array of three path segments

pub fn start(&self) -> &Pose2D

Get the start pose

Returns

• Start pose

pub fn goal(&self) -> &Pose2D

Get the goal pose

Returns

• Goal pose

pub fn turning_radius(&self) -> f64

Get the turning radius

Returns

• Turning radius

pub fn sample(&self, t: f64) -> SpatialResult<Pose2D>

Sample a point along the path at parameter t

Arguments

• t - Parameter in [0, 1] where 0 is start and 1 is goal

Returns

• Pose at parameter t, or error if t is out of bounds

Trait Implementations

impl Clone for DubinsPath

fn clone(&self) -> DubinsPath

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for DubinsPath

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

Formats the value using the given formatter.

impl PartialEq for DubinsPath

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

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

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

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

impl StructuralPartialEq for DubinsPath