pub struct TrajectoryOptimizer { /* private fields */ }Expand description
Trajectory optimizer
Implementations§
Source§impl TrajectoryOptimizer
impl TrajectoryOptimizer
Sourcepub fn new(constraints: TrajectoryConstraints) -> Self
pub fn new(constraints: TrajectoryConstraints) -> Self
Sourcepub fn optimize_quintic(
&self,
start: &TrajectoryPoint,
goal: &TrajectoryPoint,
duration: f64,
) -> SpatialResult<Trajectory>
pub fn optimize_quintic( &self, start: &TrajectoryPoint, goal: &TrajectoryPoint, duration: f64, ) -> SpatialResult<Trajectory>
Sourcepub fn optimize_minimum_jerk(
&self,
start: &TrajectoryPoint,
goal: &TrajectoryPoint,
duration: f64,
) -> SpatialResult<Trajectory>
pub fn optimize_minimum_jerk( &self, start: &TrajectoryPoint, goal: &TrajectoryPoint, duration: f64, ) -> SpatialResult<Trajectory>
Optimize a minimum jerk trajectory
Sourcepub fn optimize_with_obstacles(
&self,
start: &TrajectoryPoint,
goal: &TrajectoryPoint,
duration: f64,
obstacles: &[CircularObstacle],
) -> SpatialResult<Trajectory>
pub fn optimize_with_obstacles( &self, start: &TrajectoryPoint, goal: &TrajectoryPoint, duration: f64, obstacles: &[CircularObstacle], ) -> SpatialResult<Trajectory>
Optimize trajectory while avoiding obstacles
Auto Trait Implementations§
impl Freeze for TrajectoryOptimizer
impl RefUnwindSafe for TrajectoryOptimizer
impl Send for TrajectoryOptimizer
impl Sync for TrajectoryOptimizer
impl Unpin for TrajectoryOptimizer
impl UnwindSafe for TrajectoryOptimizer
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Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> IntoEither for T
impl<T> IntoEither for T
Source§fn into_either(self, into_left: bool) -> Either<Self, Self>
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 moreSource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
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 moreSource§impl<T> Pointable for T
impl<T> Pointable for T
Source§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
Source§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self from the equivalent element of its
superset. Read moreSource§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self is actually part of its subset T (and can be converted to it).Source§fn to_subset_unchecked(&self) -> SS
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Use with care! Same as
self.to_subset but without any property checks. Always succeeds.Source§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.