pub struct DDPConfig {
pub horizon: usize,
pub dt: f64,
pub max_iterations: usize,
pub tolerance: f64,
pub q_pos: f64,
pub q_theta: f64,
pub q_v: f64,
pub r_accel: f64,
pub r_steer: f64,
}Expand description
Configuration for DDP.
Fields§
§horizon: usizeNumber of time steps in optimization horizon.
dt: f64Integration time step [s].
max_iterations: usizeMaximum optimization iterations.
tolerance: f64Convergence tolerance on cost change.
q_pos: f64Position cost weight.
q_theta: f64Heading cost weight.
q_v: f64Velocity cost weight.
r_accel: f64Acceleration effort cost.
r_steer: f64Steering effort cost.
Trait Implementations§
impl Copy for DDPConfig
Auto Trait Implementations§
impl Freeze for DDPConfig
impl RefUnwindSafe for DDPConfig
impl Send for DDPConfig
impl Sync for DDPConfig
impl Unpin for DDPConfig
impl UnsafeUnpin for DDPConfig
impl UnwindSafe for DDPConfig
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