pub struct LQRSpeedSteerConfig {
pub wheelbase: f64,
pub max_steer: f64,
pub q_diag: [f64; 5],
pub r_diag: [f64; 2],
pub dt: f64,
pub goal_threshold: f64,
}Expand description
Configuration for LQR Speed and Steer Controller
Fields§
§wheelbase: f64Vehicle wheelbase [m]
max_steer: f64Maximum steering angle [rad]
q_diag: [f64; 5]State cost matrix Q diagonal (5 elements: e, dot_e, th_e, dot_th_e, delta_v)
r_diag: [f64; 2]Control cost matrix R diagonal (2 elements: delta, accel)
dt: f64Time step [s]
goal_threshold: f64Goal distance threshold [m]
Trait Implementations§
Source§impl Clone for LQRSpeedSteerConfig
impl Clone for LQRSpeedSteerConfig
Source§fn clone(&self) -> LQRSpeedSteerConfig
fn clone(&self) -> LQRSpeedSteerConfig
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 LQRSpeedSteerConfig
impl Debug for LQRSpeedSteerConfig
Auto Trait Implementations§
impl Freeze for LQRSpeedSteerConfig
impl RefUnwindSafe for LQRSpeedSteerConfig
impl Send for LQRSpeedSteerConfig
impl Sync for LQRSpeedSteerConfig
impl Unpin for LQRSpeedSteerConfig
impl UnsafeUnpin for LQRSpeedSteerConfig
impl UnwindSafe for LQRSpeedSteerConfig
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.