Struct Trajectory

pub struct Trajectory {
    pub points: Vec<Vector3<f32>>,
    pub last_logged_point: Vector3<f32>,
    pub min_distance_threadhold: f32,
}

A struct to hold trajectory data

Example

use peng_quad::Trajectory;
let initial_point = nalgebra::Vector3::new(0.0, 0.0, 0.0);
let mut trajectory = Trajectory::new(initial_point);

Fields

points: Vec<Vector3<f32>>

A vector of 3D points

last_logged_point: Vector3<f32>

The last point that was logged

min_distance_threadhold: f32

The minimum distance between points to log

Implementations

impl Trajectory

Implement the Trajectory struct

pub fn new(initial_point: Vector3<f32>) -> Self

Create a new Trajectory instance

Arguments

• initial_point - The initial point to add to the trajectory

Returns

• A new Trajectory instance

Example

use peng_quad::Trajectory;
let initial_point = nalgebra::Vector3::new(0.0, 0.0, 0.0);
let mut trajectory = Trajectory::new(initial_point);

pub fn add_point(&mut self, point: Vector3<f32>) -> bool

Add a point to the trajectory if it is further than the minimum distance threshold

Arguments

• point - The point to add

Returns

• true if the point was added, false otherwise

Example

use peng_quad::Trajectory;
let mut trajectory = Trajectory::new(nalgebra::Vector3::new(0.0, 0.0, 0.0));
let point = nalgebra::Vector3::new(1.0, 0.0, 0.0);
assert_eq!(trajectory.add_point(point), true);
assert_eq!(trajectory.add_point(point), false);