Struct MppiGateRace2D 

pub struct MppiGateRace2D {
    pub gates: Vec<MppiRacingGate2D>,
    pub progress_weight: f64,
    pub lateral_weight: f64,
    pub pass_bonus: f64,
    pub miss_penalty: f64,
    pub terminal_gate_weight: f64,
    pub crossing_tolerance: f64,
    /* private fields */
}

Reference-free gate-progress objective for race-style MPPI.

The per-step progress term follows the racing-MPPI idea of minimizing the change in squared distance to the active gate. Moving toward the gate creates negative cost, moving away creates positive cost, and a valid gate crossing switches the rollout to the next gate.

Fields

gates: Vec<MppiRacingGate2D>

progress_weight: f64

lateral_weight: f64

pass_bonus: f64

miss_penalty: f64

terminal_gate_weight: f64

crossing_tolerance: f64

Implementations

impl MppiGateRace2D

pub fn new(gates: Vec<MppiRacingGate2D>) -> RoboticsResult<Self>

pub fn gate_count(&self) -> usize

pub fn active_gate_index(&self) -> usize

pub fn reset(&mut self)

pub fn set_active_gate_index( &mut self, active_gate_index: usize, ) -> RoboticsResult<()>

pub fn advance_active_gate_from_state(&mut self, state: MppiState2D) -> usize

pub fn score_trajectory( &self, states: &[MppiState2D], ) -> RoboticsResult<MppiGateRaceReport2D>

Trait Implementations

impl Clone for MppiGateRace2D

fn clone(&self) -> MppiGateRace2D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MppiGateRace2D

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

Formats the value using the given formatter.

impl PartialEq for MppiGateRace2D

fn eq(&self, other: &MppiGateRace2D) -> bool

Tests for self and other values to be equal, and is used by ==.

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

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

impl StructuralPartialEq for MppiGateRace2D