Expand description
Control and path tracking algorithms for the RustRobotics workspace.
Re-exports§
pub use admm_consensus::solve_formation_consensus;pub use admm_consensus::solve_graph_consensus;pub use admm_consensus::solve_horizon_consensus;pub use admm_consensus::AdmmConfig;pub use admm_consensus::AdmmReport;pub use admm_consensus::AgentSpec;pub use admm_consensus::AgentTrajectory;pub use admm_consensus::GraphConsensusReport;pub use admm_consensus::HorizonConsensusReport;pub use behavior_tree::BehaviorStatus;pub use behavior_tree::BehaviorTree;pub use behavior_tree::Blackboard;pub use cbf_safety_filter::CbfConvexObstacle2D;pub use cbf_safety_filter::CbfFilterResult;pub use cbf_safety_filter::CbfHalfspace2D;pub use cbf_safety_filter::CbfSafetyFilter;pub use lqr_control::InvertedPendulumLQR;pub use lqr_steer_control::LQRSteerConfig;pub use lqr_steer_control::LQRSteerController;pub use move_to_pose::MoveToPoseConfig;pub use move_to_pose::MoveToPoseController;pub use mppi::MppiCircularObstacle2D;pub use mppi::MppiConfig;pub use mppi::MppiControl2D;pub use mppi::MppiController2D;pub use mppi::MppiGateRace2D;pub use mppi::MppiGateRaceReport2D;pub use mppi::MppiMovingObstacle2D;pub use mppi::MppiPlan2D;pub use mppi::MppiRacingGate2D;pub use mppi::MppiSamplingDiagnostics2D;pub use mppi::MppiState2D;pub use mppi::MppiTerminalValueGrid2D;pub use mppi::MppiTerminalValueReplayBuffer2D;pub use mppi::MppiTerminalValueReplayUpdateReport2D;pub use mppi::MppiTerminalValueUpdateConfig2D;pub use mppi::MppiTerminalValueUpdateReport2D;pub use mppi::MppiTerminalValueUpdater2D;pub use mppi::MppiTrackProjection2D;pub use mppi::MppiWaypointTrack2D;pub use person_following_mppi::MppiPersonFollowingCandidate2D;pub use person_following_mppi::MppiPersonFollowingConfig2D;pub use person_following_mppi::MppiPersonFollowingSampler2D;pub use person_following_mppi::PersonFollowingMetricsAccumulator2D;pub use person_following_mppi::PersonFollowingMetricsConfig2D;pub use person_following_mppi::PersonFollowingRolloutMetrics2D;pub use pure_pursuit::PurePursuitConfig;pub use pure_pursuit::PurePursuitController;pub use pusher_slider::simulate_multi_push;pub use pusher_slider::simulate_push;pub use pusher_slider::simulate_push_with_obstacles;pub use pusher_slider::ContactMode;pub use pusher_slider::MultiPushReport;pub use pusher_slider::PushReport;pub use pusher_slider::PusherCommand;pub use pusher_slider::PusherMppiConfig;pub use pusher_slider::PusherMppiPlan;pub use pusher_slider::PusherSliderMppiController;pub use pusher_slider::PusherSliderParams;pub use pusher_slider::SliderState;pub use racing_mppi_3d::simulate_lap_race;pub use racing_mppi_3d::RacingDroneControl3D;pub use racing_mppi_3d::RacingDroneDynamics3D;pub use racing_mppi_3d::RacingDroneState3D;pub use racing_mppi_3d::RacingGateLap3D;pub use racing_mppi_3d::RacingGatePlane3D;pub use racing_mppi_3d::RacingLapReport3D;pub use racing_mppi_3d::RacingMppi3DConfig;pub use racing_mppi_3d::RacingMppi3DController;pub use racing_mppi_3d::RacingMppi3DPlan;pub use racing_mppi_motor::simulate_motor_race;pub use racing_mppi_motor::MotorCommand;pub use racing_mppi_motor::MotorMppiConfig;pub use racing_mppi_motor::MotorMppiController;pub use racing_mppi_motor::MotorMppiPlan;pub use racing_mppi_motor::MotorQuadParams;pub use racing_mppi_motor::MotorQuadState;pub use racing_mppi_motor::MotorRacingLapReport;pub use racing_mppi_powertrain::simulate_powertrain_race;pub use racing_mppi_powertrain::simulate_powertrain_race_aware;pub use racing_mppi_powertrain::simulate_powertrain_race_budgeted;pub use racing_mppi_powertrain::ChargeBudget;pub use racing_mppi_powertrain::PowertrainLapReport;pub use racing_mppi_powertrain::PowertrainMppiController;pub use racing_mppi_powertrain::PowertrainParams;pub use racing_mppi_powertrain::PowertrainState;pub use racing_mppi_quadrotor::simulate_quadrotor_race;pub use racing_mppi_quadrotor::QuadrotorControl;pub use racing_mppi_quadrotor::QuadrotorLapReport;pub use racing_mppi_quadrotor::QuadrotorMppiConfig;pub use racing_mppi_quadrotor::QuadrotorMppiController;pub use racing_mppi_quadrotor::QuadrotorMppiPlan;pub use racing_mppi_quadrotor::QuadrotorParams;pub use racing_mppi_quadrotor::QuadrotorState;pub use rear_wheel_feedback::RearWheelFeedbackConfig;pub use rear_wheel_feedback::RearWheelFeedbackController;pub use stanley_controller::StanleyConfig;pub use stanley_controller::StanleyController;pub use state_machine::StateMachine;pub use two_joint_arm_control::TwoJointArm;
Modules§
- admm_
consensus - Distributed formation consensus via ADMM.
- arm_
obstacle_ navigation - Arm path planning with obstacle avoidance in joint space.
- backstepping_
control - Backstepping-style controller for a unicycle robot.
- behavior_
tree - Behavior Tree implementation for mission planning.
- cbf_
safety_ filter - PolyMerge-lite: a control-barrier-function safety filter over convex polytope obstacle covers.
- cgmres_
nmpc - Nonlinear MPC simulation with CGMRES (Continuation GMRES)
- ddp
- Differential Dynamic Programming (DDP) for a car-like model.
- drone_
3d_ trajectory - 3D drone trajectory following with quadrotor dynamics.
- experiments
- feedback_
linearization - Feedback Linearization controller for a unicycle robot.
- ilqr
- Iterative Linear Quadratic Regulator (iLQR) for a unicycle model.
- lqr_
control - lqr_
speed_ steer_ control - LQR Speed and Steering Control path tracking algorithm
- lqr_
steer_ control - LQR Steer Control path tracking algorithm
- minimum_
snap_ trajectory - Minimum-snap 3D trajectory generation for drone waypoint tracking.
- model_
predictive_ trajectory_ generator - move_
to_ pose - mpc
- Model Predictive Control (MPC) for path tracking
- mpc_
control - mppi
- Vanilla MPPI controller for a 2-D double integrator.
- n_
joint_ arm_ 3d - 3D N-joint arm control
- n_
joint_ arm_ control - Generalized N-joint planar arm inverse kinematics and control.
- person_
following_ mppi - Adaptive person-following helpers for MPPI.
- pid_
controller - PID Controller with anti-windup and output clamping.
- pure_
pursuit - Pure Pursuit path tracking algorithm
- pusher_
slider - Quasi-static planar pushing (pusher-slider) with contact modes and MPPI.
- racing_
mppi_ 3d - Reference-free racing MPPI through 3-D gate planes.
- racing_
mppi_ motor - Reference-free racing MPPI with a motor-level rotor-mixing quadrotor.
- racing_
mppi_ powertrain - Reference-free racing MPPI with a motor-lag and battery-sag powertrain.
- racing_
mppi_ quadrotor - Reference-free racing MPPI with a full quadrotor attitude model.
- rear_
wheel_ feedback - Rear Wheel Feedback path tracking controller
- rocket_
landing - Rocket Powered Landing trajectory optimization.
- rrt_
star_ seven_ joint_ arm - RRT* path planner for 7-DOF robotic arms
- sliding_
mode_ control - stanley_
controller - Stanley Controller path tracking algorithm
- state_
machine - State Machine implementation for Mission Planning
- two_
joint_ arm_ control