pub struct LQRSteerConfig {
pub wheelbase: f64,
pub max_steer: f64,
pub kp: f64,
pub q_diag: [f64; 4],
pub r: f64,
pub dt: f64,
pub goal_threshold: f64,
}Expand description
Configuration for LQR Steer Controller
Fields§
§wheelbase: f64Vehicle wheelbase
max_steer: f64Maximum steering angle [rad]
kp: f64Speed proportional gain
q_diag: [f64; 4]State cost matrix Q (4x4 diagonal)
r: f64Control cost R
dt: f64Time step
goal_threshold: f64Goal distance threshold
Trait Implementations§
Source§impl Clone for LQRSteerConfig
impl Clone for LQRSteerConfig
Source§fn clone(&self) -> LQRSteerConfig
fn clone(&self) -> LQRSteerConfig
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 LQRSteerConfig
impl Debug for LQRSteerConfig
Auto Trait Implementations§
impl Freeze for LQRSteerConfig
impl RefUnwindSafe for LQRSteerConfig
impl Send for LQRSteerConfig
impl Sync for LQRSteerConfig
impl Unpin for LQRSteerConfig
impl UnsafeUnpin for LQRSteerConfig
impl UnwindSafe for LQRSteerConfig
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.