pub struct BacksteppingConfig {
pub k1: f64,
pub k2: f64,
pub k3: f64,
pub dt: f64,
pub goal_tolerance: f64,
pub max_steps: usize,
}Expand description
Configuration for the backstepping controller.
Fields§
§k1: f64Position gain.
k2: f64Lateral error gain.
k3: f64Heading error gain.
dt: f64Integration time-step [s].
goal_tolerance: f64Convergence tolerance for position [m] and yaw [rad].
max_steps: usizeMaximum number of simulation steps.
Trait Implementations§
Source§impl Clone for BacksteppingConfig
impl Clone for BacksteppingConfig
Source§fn clone(&self) -> BacksteppingConfig
fn clone(&self) -> BacksteppingConfig
Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source. Read moreSource§impl Debug for BacksteppingConfig
impl Debug for BacksteppingConfig
Source§impl Default for BacksteppingConfig
impl Default for BacksteppingConfig
impl Copy for BacksteppingConfig
Auto Trait Implementations§
impl Freeze for BacksteppingConfig
impl RefUnwindSafe for BacksteppingConfig
impl Send for BacksteppingConfig
impl Sync for BacksteppingConfig
impl Unpin for BacksteppingConfig
impl UnsafeUnpin for BacksteppingConfig
impl UnwindSafe for BacksteppingConfig
Blanket Implementations§
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> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
T: Clone,
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 more§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
§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 more§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).§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.