pub struct RacingMppi3DController { /* private fields */ }Expand description
Deterministic, seeded MPPI controller for 3-D gate racing.
Each plan call samples Gaussian acceleration perturbations around the
warm-started nominal control sequence, rolls them out through the drone
dynamics, scores reference-free gate progress, and returns the softmin-
weighted first control. The controller owns no obstacles — the gate
apertures themselves are the constraints.
Implementations§
Source§impl RacingMppi3DController
impl RacingMppi3DController
pub fn new( config: RacingMppi3DConfig, dynamics: RacingDroneDynamics3D, ) -> RoboticsResult<Self>
pub fn config(&self) -> &RacingMppi3DConfig
Sourcepub fn plan(
&mut self,
start: RacingDroneState3D,
lap: &RacingGateLap3D,
passed: usize,
) -> RoboticsResult<RacingMppi3DPlan>
pub fn plan( &mut self, start: RacingDroneState3D, lap: &RacingGateLap3D, passed: usize, ) -> RoboticsResult<RacingMppi3DPlan>
Plan the next control given the current state, lap, and pass count.
Trait Implementations§
Source§impl Clone for RacingMppi3DController
impl Clone for RacingMppi3DController
Source§fn clone(&self) -> RacingMppi3DController
fn clone(&self) -> RacingMppi3DController
Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source. Read moreAuto Trait Implementations§
impl Freeze for RacingMppi3DController
impl RefUnwindSafe for RacingMppi3DController
impl Send for RacingMppi3DController
impl Sync for RacingMppi3DController
impl Unpin for RacingMppi3DController
impl UnsafeUnpin for RacingMppi3DController
impl UnwindSafe for RacingMppi3DController
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Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
T: Clone,
Source§impl<T> IntoEither for T
impl<T> IntoEither for T
Source§fn into_either(self, into_left: bool) -> Either<Self, Self>
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 moreSource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
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§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self from the equivalent element of its
superset. Read more§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
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fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.