Struct PusherSliderMppiController 

pub struct PusherSliderMppiController { /* private fields */ }

Deterministic, seeded sampling controller for planar pushing.

The controller is face-aware: it keeps a warm-started nominal plan for each of the slider’s four faces, runs MPPI within each face, and executes the command from whichever face yields the lowest-cost rollout. Switching faces is what makes rotation-without-lateral-drift goals reachable (e.g. push the back face to spin one way, the front face to spin back and cancel the translation).

Implementations

impl PusherSliderMppiController

pub fn new( config: PusherMppiConfig, params: PusherSliderParams, ) -> RoboticsResult<Self>

pub fn with_obstacles(self, obstacles: Vec<[f64; 2]>) -> Self

Attach obstacle centers (keep-out discs of config.obstacle_radius) that the slider should avoid — used for multi-object pushing.

pub fn config(&self) -> &PusherMppiConfig

pub fn plan( &mut self, start: SliderState, goal: SliderState, ) -> RoboticsResult<PusherMppiPlan>

Plan the next pusher command toward goal, choosing the best contact face.

Trait Implementations

impl Clone for PusherSliderMppiController

fn clone(&self) -> PusherSliderMppiController

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PusherSliderMppiController

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

Formats the value using the given formatter.