pub struct ILQRConfig {
pub horizon: usize,
pub dt: f64,
pub max_iterations: usize,
pub tolerance: f64,
pub q_pos: f64,
pub q_yaw: f64,
pub r_v: f64,
pub r_omega: f64,
}Expand description
Configuration for the iLQR planner.
Fields§
§horizon: usizeNumber of time steps in the optimization horizon.
dt: f64Time step [s].
max_iterations: usizeMaximum iLQR iterations.
tolerance: f64Convergence threshold on cost change.
q_pos: f64Position cost weight.
q_yaw: f64Heading cost weight.
r_v: f64Linear velocity input cost weight.
r_omega: f64Angular velocity input cost weight.
Trait Implementations§
Source§impl Clone for ILQRConfig
impl Clone for ILQRConfig
Source§fn clone(&self) -> ILQRConfig
fn clone(&self) -> ILQRConfig
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 ILQRConfig
impl Debug for ILQRConfig
Source§impl Default for ILQRConfig
impl Default for ILQRConfig
impl Copy for ILQRConfig
Auto Trait Implementations§
impl Freeze for ILQRConfig
impl RefUnwindSafe for ILQRConfig
impl Send for ILQRConfig
impl Sync for ILQRConfig
impl Unpin for ILQRConfig
impl UnsafeUnpin for ILQRConfig
impl UnwindSafe for ILQRConfig
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.