pub struct MotorMppiController { /* private fields */ }Expand description
Deterministic, seeded motor-level MPPI controller for gate racing.
Implementations§
Source§impl MotorMppiController
impl MotorMppiController
pub fn new( config: MotorMppiConfig, params: MotorQuadParams, ) -> RoboticsResult<Self>
pub fn config(&self) -> &MotorMppiConfig
Sourcepub fn plan(
&mut self,
start: MotorQuadState,
lap: &RacingGateLap3D,
passed: usize,
) -> RoboticsResult<MotorMppiPlan>
pub fn plan( &mut self, start: MotorQuadState, lap: &RacingGateLap3D, passed: usize, ) -> RoboticsResult<MotorMppiPlan>
Plan the next rotor command given state, lap, and pass count.
Trait Implementations§
Source§impl Clone for MotorMppiController
impl Clone for MotorMppiController
Source§fn clone(&self) -> MotorMppiController
fn clone(&self) -> MotorMppiController
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 MotorMppiController
impl RefUnwindSafe for MotorMppiController
impl Send for MotorMppiController
impl Sync for MotorMppiController
impl Unpin for MotorMppiController
impl UnsafeUnpin for MotorMppiController
impl UnwindSafe for MotorMppiController
Blanket Implementations§
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
self is actually part of its subset T (and can be converted to it).§fn to_subset_unchecked(&self) -> SS
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.