https://github.com/openrr/trajectory

trajectory interpolation library for Rust and robotics
https://github.com/openrr/trajectory

cubic-splines interpolation robotics rust spline

Last synced: 6 months ago
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trajectory interpolation library for Rust and robotics

• Host: GitHub
• URL: https://github.com/openrr/trajectory
• Owner: openrr
• License: apache-2.0
• Created: 2017-12-25T14:02:19.000Z (over 7 years ago)
• Default Branch: main
• Last Pushed: 2024-01-23T05:21:51.000Z (over 1 year ago)
• Last Synced: 2024-04-24T08:27:29.949Z (about 1 year ago)
• Topics: cubic-splines, interpolation, robotics, rust, spline
• Language: Rust
• Homepage:
• Size: 124 KB
• Stars: 25
• Watchers: 6
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-rust-list - trajectory
• awesome-rust-list - trajectory

README

        
# trajectory

[![Build Status](https://img.shields.io/github/actions/workflow/status/openrr/trajectory/ci.yml?branch=main&logo=github)](https://github.com/openrr/trajectory/actions) [![crates.io](https://img.shields.io/crates/v/trajectory.svg?logo=rust)](https://crates.io/crates/trajectory) [![docs](https://docs.rs/trajectory/badge.svg)](https://docs.rs/trajectory) [![discord](https://dcbadge.vercel.app/api/server/8DAFFKc88B?style=flat)](https://discord.gg/8DAFFKc88B)

Trajectory interpolator for Rust.

## Code example

```rust

use trajectory::{CubicSpline, Trajectory};

let times = vec![0.0_f64, 1.0, 3.0, 4.0];

let points = vec![

    vec![0.0, -1.0],

    vec![2.0, -3.0],

    vec![3.0, 3.0],

    vec![1.0, 5.0],

];

let ip = CubicSpline::new(times, points).unwrap();

for i in 0..400 {

    let t = i as f64 * 0.01_f64;

    let p = ip.position(t).unwrap();

    let v = ip.velocity(t).unwrap();

    let a = ip.acceleration(t).unwrap();

}

```

## Run example

It requires `gnuplot`.

```bash

cargo run --example plot

```

![plot1](https://github.com/openrr/trajectory/raw/main/img/plot1.png)

![plot2](https://github.com/openrr/trajectory/raw/main/img/plot2.png)

## `OpenRR` Community

[Here](https://discord.gg/8DAFFKc88B) is a discord server for `OpenRR` users and developers.