pub struct MppiController2D { /* private fields */ }Expand description
Vanilla MPPI controller.
Implementations§
Source§impl MppiController2D
impl MppiController2D
pub fn new(config: MppiConfig) -> RoboticsResult<Self>
pub fn plan( &mut self, start: MppiState2D, goal: (f64, f64), ) -> RoboticsResult<MppiPlan2D>
pub fn terminal_value_grid(&self) -> Option<&MppiTerminalValueGrid2D>
pub fn terminal_value_grid_mut( &mut self, ) -> Option<&mut MppiTerminalValueGrid2D>
pub fn set_terminal_value_grid( &mut self, grid: Option<MppiTerminalValueGrid2D>, ) -> RoboticsResult<()>
pub fn set_moving_obstacles( &mut self, moving_obstacles: Vec<MppiMovingObstacle2D>, ) -> RoboticsResult<()>
pub fn set_goal_trajectory( &mut self, goal_trajectory: Option<Vec<(f64, f64)>>, ) -> RoboticsResult<()>
Auto Trait Implementations§
impl Freeze for MppiController2D
impl RefUnwindSafe for MppiController2D
impl Send for MppiController2D
impl Sync for MppiController2D
impl Unpin for MppiController2D
impl UnsafeUnpin for MppiController2D
impl UnwindSafe for MppiController2D
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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
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Mutably borrows from an owned value. Read more
Source§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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fn is_in_subset(&self) -> bool
Checks if
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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.