Struct AgentTrajectory 

pub struct AgentTrajectory {
    pub reference: Vec<[f64; 2]>,
    pub offset: [f64; 2],
    pub weight: f64,
    pub lower: [f64; 2],
    pub upper: [f64; 2],
}

One agent’s planning slice in the receding-horizon (trajectory) consensus problem: a per-step reference trajectory, a constant formation offset, a cost weight, and an optional box constraint applied at every step.

Fields

reference: Vec<[f64; 2]>

Per-step reference positions a_i[t] the agent is pulled toward.

offset: [f64; 2]

Constant formation offset offset_i from the shared center trajectory.

weight: f64

Cost weight on staying near the reference (relative to the consensus pull).

lower: [f64; 2]

Lower box bound, applied to every step (f64::NEG_INFINITY disables).

upper: [f64; 2]

Upper box bound, applied to every step (f64::INFINITY disables).

Implementations

impl AgentTrajectory

pub fn new(reference: Vec<[f64; 2]>, offset: [f64; 2]) -> Self

An unconstrained agent with unit weight tracking reference.

pub fn with_box(self, lower: [f64; 2], upper: [f64; 2]) -> Self

Set a per-step box constraint on the agent’s position.

pub fn with_weight(self, weight: f64) -> Self

Set the cost weight on tracking the reference.

Trait Implementations

impl Clone for AgentTrajectory

fn clone(&self) -> AgentTrajectory

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for AgentTrajectory

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

Formats the value using the given formatter.

impl PartialEq for AgentTrajectory

fn eq(&self, other: &AgentTrajectory) -> 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 AgentTrajectory