pub struct PurePursuitController { /* private fields */ }Expand description
Pure Pursuit path tracking controller
Implementations§
Source§impl PurePursuitController
impl PurePursuitController
Sourcepub fn new(config: PurePursuitConfig) -> Self
pub fn new(config: PurePursuitConfig) -> Self
Create a new Pure Pursuit controller
Sourcepub fn with_params(k: f64, lfc: f64, wb: f64) -> Self
pub fn with_params(k: f64, lfc: f64, wb: f64) -> Self
Create with simplified parameters (legacy interface)
Sourcepub fn compute_steering(&mut self, state: &VehicleState) -> f64
pub fn compute_steering(&mut self, state: &VehicleState) -> f64
Compute steering angle for current state
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 is_goal_reached(&self, state: &VehicleState) -> bool
pub fn is_goal_reached(&self, state: &VehicleState) -> bool
Check if goal is reached
Trait Implementations§
Source§impl PathTracker for PurePursuitController
impl PathTracker for PurePursuitController
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 PurePursuitController
impl RefUnwindSafe for PurePursuitController
impl Send for PurePursuitController
impl Sync for PurePursuitController
impl Unpin for PurePursuitController
impl UnsafeUnpin for PurePursuitController
impl UnwindSafe for PurePursuitController
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
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.