Struct LQRSpeedSteerController 

pub struct LQRSpeedSteerController { /* private fields */ }

LQR Speed and Steer path tracking controller

Unlike the steer-only LQR controller, this controller computes both steering angle and acceleration via a single 5-state LQR formulation, removing the need for a separate PID speed controller.

Implementations

impl LQRSpeedSteerController

pub fn new(config: LQRSpeedSteerConfig) -> Self

Create a new LQR Speed+Steer controller

pub fn with_defaults() -> Self

Create with default configuration

pub fn set_path(&mut self, path: Path2D)

Set the reference path with a default target speed (~10 km/h)

pub fn set_path_with_speed(&mut self, path: Path2D, target_speed: f64)

Set the reference path with a specific target speed

pub fn get_path(&self) -> &Path2D

Get the current reference path

pub fn compute_control_full( &mut self, state: &LQRSpeedSteerVehicleState, ) -> (f64, usize, f64, f64, f64)

Compute LQR speed and steering control

Returns (steering_delta, target_index, lateral_error, heading_error, acceleration)

pub fn compute_steering(&mut self, state: &LQRSpeedSteerVehicleState) -> f64

Compute steering angle only (convenience method)

pub fn compute_acceleration(&mut self, state: &LQRSpeedSteerVehicleState) -> f64

Compute acceleration only (convenience method)

pub fn get_target_speed(&self, index: usize) -> f64

Get target speed at a given index

pub fn is_goal_reached(&self, state: &LQRSpeedSteerVehicleState) -> bool

Check if goal is reached

pub fn planning( &mut self, waypoints: Vec<(f64, f64)>, target_speed: f64, ds: f64, ) -> Option<Vec<(f64, f64)>>

Run a full simulation using cubic spline interpolation of waypoints

Trait Implementations

impl PathTracker for LQRSpeedSteerController

fn compute_control( &mut self, current_state: &State2D, path: &Path2D, ) -> ControlInput

Compute control input to follow the path

fn is_goal_reached(&self, current_state: &State2D, goal: Point2D) -> bool

Check if the goal has been reached