Struct RacingGateLap3D

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pub struct RacingGateLap3D {
    pub gates: Vec<RacingGatePlane3D>,
    pub closed: bool,
    pub progress_weight: f64,
    pub lateral_weight: f64,
    pub pass_bonus: f64,
    pub miss_penalty: f64,
    pub terminal_gate_weight: f64,
    pub crossing_tolerance: f64,
}

Expand description

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

Holds the reference-free gate-progress objective weights, mirroring crate::mppi::MppiGateRace2D but over 3-D gate planes.

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§gates: Vec<RacingGatePlane3D>§closed: bool

When true, after the last gate the race wraps back to the first gate.

§progress_weight: f64§lateral_weight: f64§pass_bonus: f64§miss_penalty: f64§terminal_gate_weight: f64§crossing_tolerance: f64

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impl RacingGateLap3D

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pub fn open(gates: Vec<RacingGatePlane3D>) -> RoboticsResult<Self>

Open course: the race ends after the last gate is passed.

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pub fn closed_loop(gates: Vec<RacingGatePlane3D>) -> RoboticsResult<Self>

Closed lap: after the last gate the race wraps back to the first gate.

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pub fn gate_count(&self) -> usize

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pub fn gate_for_pass_count(&self, passed: usize) -> &RacingGatePlane3D

Gate the race is chasing given how many gates have already been passed.

For a closed lap this wraps modulo the gate count; for an open course it saturates at the last gate.

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pub fn centerline_length(&self) -> f64

Length of the polyline through the gate centers; closed laps add the return leg from the last gate back to the first.

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pub fn score_positions( &self, positions: &[[f64; 3]], start_passed: usize, ) -> (f64, usize)

Reference-free gate-progress cost of a position rollout starting from a pass count, returning (cost, gates_passed_in_rollout).

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impl Clone for RacingGateLap3D

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fn clone(&self) -> RacingGateLap3D

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 RacingGateLap3D

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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 PartialEq for RacingGateLap3D

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fn eq(&self, other: &RacingGateLap3D) -> 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 StructuralPartialEq for RacingGateLap3D

Auto Trait Implementations§

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impl UnwindSafe for RacingGateLap3D

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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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 more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

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

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