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simulate_lap_race

rust_robotics_control::racing_mppi_3d

Function simulate_lap_race 

Source 
pub fn simulate_lap_race(
    config: RacingMppi3DConfig,
    dynamics: RacingDroneDynamics3D,
    lap: &RacingGateLap3D,
    start: RacingDroneState3D,
    max_steps: usize,
    target_laps: usize,
) -> RoboticsResult<RacingLapReport3D>
Expand description

Drive the racing MPPI controller around a lap and report lap-progress metrics.

The rollout runs for at most max_steps control steps and stops early once target_laps whole laps have been completed. Everything is deterministic for a fixed config.seed.