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RacingDroneDynamics3D

rust_robotics_control::racing_mppi_3d

Struct RacingDroneDynamics3D 

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pub struct RacingDroneDynamics3D {
    pub drag: f64,
    pub gravity: f64,
    pub max_speed: f64,
    pub accel_limit: f64,
}
Expand description

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

The discrete update is semi-implicit: the commanded acceleration (capped to accel_limit in magnitude) and gravity update the velocity, linear drag decays it, the speed is capped to max_speed, and the position integrates the new velocity. This stays stable for the step sizes used by the racing MPPI rollouts while modeling drag and saturation effects a pure double integrator ignores.

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§drag: f64

Linear drag coefficient [1/s].

§gravity: f64

Downward gravitational acceleration [m/s^2] applied to vz.

§max_speed: f64

Maximum speed [m/s] the drone body can reach.

§accel_limit: f64

Maximum commanded acceleration magnitude [m/s^2].

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impl RacingDroneDynamics3D

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pub fn new( drag: f64, gravity: f64, max_speed: f64, accel_limit: f64, ) -> RoboticsResult<Self>

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pub fn saturate(self, control: RacingDroneControl3D) -> RacingDroneControl3D

Clamp a control’s acceleration magnitude to accel_limit.

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pub fn step( self, state: RacingDroneState3D, control: RacingDroneControl3D, dt: f64, ) -> RacingDroneState3D

Advance the drone one step under the commanded acceleration.

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impl Clone for RacingDroneDynamics3D

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fn clone(&self) -> RacingDroneDynamics3D

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more
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impl Debug for RacingDroneDynamics3D

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

Formats the value using the given formatter. Read more
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impl Default for RacingDroneDynamics3D

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fn default() -> Self

Returns the “default value” for a type. Read more
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impl PartialEq for RacingDroneDynamics3D

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fn eq(&self, other: &RacingDroneDynamics3D) -> bool

Tests for self and other values to be equal, and is used by ==.
1.0.0 (const: unstable) · Source§

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl Copy for RacingDroneDynamics3D

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impl StructuralPartialEq for RacingDroneDynamics3D

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impl<T> Any for T
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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
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impl<T> From<T> for T

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