pub struct FeedbackLinearizationConfig {
pub k1: f64,
pub k2: f64,
pub offset_distance: f64,
pub dt: f64,
pub goal_tolerance: f64,
pub max_steps: usize,
}Expand description
Configuration for the Feedback Linearization controller.
Fields§
§k1: f64Proportional gain on x-error of the virtual point [1/s].
k2: f64Proportional gain on y-error of the virtual point [1/s].
offset_distance: f64Distance of the virtual point ahead of the robot [m].
dt: f64Integration time-step [s].
goal_tolerance: f64Distance at which convergence is declared [m].
max_steps: usizeMaximum simulation steps before giving up.
Trait Implementations§
Source§impl Clone for FeedbackLinearizationConfig
impl Clone for FeedbackLinearizationConfig
Source§fn clone(&self) -> FeedbackLinearizationConfig
fn clone(&self) -> FeedbackLinearizationConfig
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 FeedbackLinearizationConfig
impl Debug for FeedbackLinearizationConfig
impl Copy for FeedbackLinearizationConfig
Auto Trait Implementations§
impl Freeze for FeedbackLinearizationConfig
impl RefUnwindSafe for FeedbackLinearizationConfig
impl Send for FeedbackLinearizationConfig
impl Sync for FeedbackLinearizationConfig
impl Unpin for FeedbackLinearizationConfig
impl UnsafeUnpin for FeedbackLinearizationConfig
impl UnwindSafe for FeedbackLinearizationConfig
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.