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MppiConfig

rust_robotics_control::mppi

Struct MppiConfig 

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pub struct MppiConfig {
Show 25 fields
    pub horizon: usize,
    pub samples: usize,
    pub dt: f64,
    pub lambda: f64,
    pub adaptive_lambda: bool,
    pub min_lambda: f64,
    pub max_lambda: f64,
    pub target_effective_sample_ratio: f64,
    pub adaptive_lambda_iterations: usize,
    pub noise_sigma: f64,
    pub control_limit: f64,
    pub goal_weight: f64,
    pub velocity_weight: f64,
    pub control_weight: f64,
    pub terminal_weight: f64,
    pub constraint_weight: f64,
    pub constraint_discount: f64,
    pub safety_margin: f64,
    pub obstacles: Vec<MppiCircularObstacle2D>,
    pub moving_obstacles: Vec<MppiMovingObstacle2D>,
    pub terminal_value_weight: f64,
    pub terminal_value_grid: Option<MppiTerminalValueGrid2D>,
    pub goal_trajectory: Option<Vec<(f64, f64)>>,
    pub gate_race: Option<MppiGateRace2D>,
    pub seed: u64,

}
Expand description

MPPI configuration.

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§horizon: usize§samples: usize§dt: f64§lambda: f64§adaptive_lambda: bool§min_lambda: f64§max_lambda: f64§target_effective_sample_ratio: f64§adaptive_lambda_iterations: usize§noise_sigma: f64§control_limit: f64§goal_weight: f64§velocity_weight: f64§control_weight: f64§terminal_weight: f64§constraint_weight: f64§constraint_discount: f64§safety_margin: f64§obstacles: Vec<MppiCircularObstacle2D>§moving_obstacles: Vec<MppiMovingObstacle2D>§terminal_value_weight: f64§terminal_value_grid: Option<MppiTerminalValueGrid2D>§goal_trajectory: Option<Vec<(f64, f64)>>§gate_race: Option<MppiGateRace2D>§seed: u64

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impl Clone for MppiConfig

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fn clone(&self) -> MppiConfig

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for MppiConfig

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more
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impl Default for MppiConfig

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fn default() -> Self

Returns the “default value” for a type. Read more
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impl PartialEq for MppiConfig

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fn eq(&self, other: &MppiConfig) -> bool

Tests for self and other values to be equal, and is used by ==.
1.0.0 (const: unstable) · Source§

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl StructuralPartialEq for MppiConfig

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impl<T> Any for T
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Gets the TypeId of self. Read more
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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
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