pub struct LQRSteerController { /* private fields */ }Expand description
LQR Steer path tracking controller
Implementations§
Source§impl LQRSteerController
impl LQRSteerController
Sourcepub fn new(config: LQRSteerConfig) -> Self
pub fn new(config: LQRSteerConfig) -> Self
Create a new LQR Steer controller
Sourcepub fn with_defaults() -> Self
pub fn with_defaults() -> Self
Create with default configuration
Sourcepub fn set_path_with_speed(&mut self, path: Path2D, target_speed: f64)
pub fn set_path_with_speed(&mut self, path: Path2D, target_speed: f64)
Set the reference path with speed
Sourcepub fn compute_steering(&mut self, state: &LQRVehicleState) -> f64
pub fn compute_steering(&mut self, state: &LQRVehicleState) -> f64
Compute LQR steering control
Sourcepub fn compute_acceleration(&self, target_speed: f64, current_speed: f64) -> f64
pub fn compute_acceleration(&self, target_speed: f64, current_speed: f64) -> f64
Proportional speed control
Sourcepub fn get_target_speed(&self, index: usize) -> f64
pub fn get_target_speed(&self, index: usize) -> f64
Get target speed for current index
Sourcepub fn is_goal_reached_vehicle(&self, state: &LQRVehicleState) -> bool
pub fn is_goal_reached_vehicle(&self, state: &LQRVehicleState) -> bool
Check if goal is reached
Trait Implementations§
Source§impl PathTracker for LQRSteerController
impl PathTracker for LQRSteerController
Source§fn compute_control(
&mut self,
current_state: &State2D,
path: &Path2D,
) -> ControlInput
fn compute_control( &mut self, current_state: &State2D, path: &Path2D, ) -> ControlInput
Compute control input to follow the path
Source§fn is_goal_reached(&self, current_state: &State2D, goal: Point2D) -> bool
fn is_goal_reached(&self, current_state: &State2D, goal: Point2D) -> bool
Check if the goal has been reached
Auto Trait Implementations§
impl Freeze for LQRSteerController
impl RefUnwindSafe for LQRSteerController
impl Send for LQRSteerController
impl Sync for LQRSteerController
impl Unpin for LQRSteerController
impl UnsafeUnpin for LQRSteerController
impl UnwindSafe for LQRSteerController
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> IntoEither for T
impl<T> IntoEither for T
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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
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Checks if
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Use with care! Same as
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fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.