pub struct PusherMppiConfig {Show 14 fields
pub horizon: usize,
pub samples: usize,
pub dt: f64,
pub contact_sigma: f64,
pub tangent_sigma: f64,
pub push_sigma: f64,
pub push_speed: f64,
pub max_push_speed: f64,
pub position_weight: f64,
pub heading_weight: f64,
pub obstacle_weight: f64,
pub obstacle_radius: f64,
pub lambda: f64,
pub seed: u64,
}Expand description
Configuration for the sampling-based pushing controller.
Fields§
§horizon: usize§samples: usize§dt: f64§contact_sigma: f64Std-dev of the contact-offset perturbation [m].
tangent_sigma: f64Std-dev of the tangential-slip perturbation [m/s].
push_sigma: f64Std-dev of the normal-push perturbation [m/s].
push_speed: f64Initial (nominal) normal push speed [m/s].
max_push_speed: f64Maximum normal push speed [m/s] (the controller may slow toward 0).
position_weight: f64§heading_weight: f64§obstacle_weight: f64Penalty weight for the slider center entering an obstacle keep-out disc.
obstacle_radius: f64Keep-out radius around each obstacle center [m] (0 disables it).
lambda: f64§seed: u64Trait Implementations§
Source§impl Clone for PusherMppiConfig
impl Clone for PusherMppiConfig
Source§fn clone(&self) -> PusherMppiConfig
fn clone(&self) -> PusherMppiConfig
Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source. Read moreSource§impl Debug for PusherMppiConfig
impl Debug for PusherMppiConfig
Source§impl Default for PusherMppiConfig
impl Default for PusherMppiConfig
Source§impl PartialEq for PusherMppiConfig
impl PartialEq for PusherMppiConfig
Source§fn eq(&self, other: &PusherMppiConfig) -> bool
fn eq(&self, other: &PusherMppiConfig) -> bool
Tests for
self and other values to be equal, and is used by ==.impl StructuralPartialEq for PusherMppiConfig
Auto Trait Implementations§
impl Freeze for PusherMppiConfig
impl RefUnwindSafe for PusherMppiConfig
impl Send for PusherMppiConfig
impl Sync for PusherMppiConfig
impl Unpin for PusherMppiConfig
impl UnsafeUnpin for PusherMppiConfig
impl UnwindSafe for PusherMppiConfig
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> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
T: Clone,
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.