Module racing_mppi_3d 

Reference-free racing MPPI through 3-D gate planes.

This extends the 2-D gate-progress objective in crate::mppi to a 3-D drone-racing setting:

• RacingGatePlane3D is a rectangular gate aperture in 3-D defined by a center, a race-direction normal, and an in-plane up axis. A rollout passes the gate when a segment crosses the gate plane from behind to in front and the crossing point lies inside the rectangular aperture.
• RacingDroneDynamics3D is a point-mass drone with linear aerodynamic drag, optional gravity, a speed cap, and an acceleration-magnitude cap — richer than the pure 2-D double integrator.
• RacingGateLap3D arranges gates into an open course or a closed lap and scores reference-free gate progress.
• simulate_lap_race drives a deterministic, seeded MPPI controller around the lap and reports RacingLapReport3D lap-progress metrics.

Structs

RacingDroneControl3D

Commanded acceleration [m/s^2] for the drone model.

RacingDroneDynamics3D

Point-mass drone dynamics with linear drag, gravity, and actuation limits.

RacingDroneState3D

State for a 3-D point-mass drone: position [m] and velocity [m/s].

RacingGateLap3D

A sequence of gates forming an open course or a closed racing lap.

RacingGatePlane3D

A rectangular racing gate plane in 3-D.

RacingLapReport3D

Lap-progress metrics from a closed-loop racing rollout.

RacingMppi3DConfig

Configuration for the deterministic 3-D racing MPPI controller.

RacingMppi3DController

Deterministic, seeded MPPI controller for 3-D gate racing.

RacingMppi3DPlan

Result of one plan call.

Functions

simulate_lap_race

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