pub struct MotorQuadState {
pub position: [f64; 3],
pub velocity: [f64; 3],
pub attitude: [f64; 4],
pub body_rates: [f64; 3],
}Expand description
State of the motor-level quadrotor.
Fields§
§position: [f64; 3]§velocity: [f64; 3]§attitude: [f64; 4]Unit quaternion [w, x, y, z] (body-to-world).
body_rates: [f64; 3]Body angular velocity [wx, wy, wz] [rad/s].
Implementations§
Source§impl MotorQuadState
impl MotorQuadState
pub fn speed(self) -> f64
Sourcepub fn thrust_axis(self) -> [f64; 3]
pub fn thrust_axis(self) -> [f64; 3]
Body z-axis (thrust direction) in the world frame.
Sourcepub fn tilt_angle(self) -> f64
pub fn tilt_angle(self) -> f64
Tilt angle [rad] of the thrust axis from world up, in [0, pi].
Trait Implementations§
Source§impl Clone for MotorQuadState
impl Clone for MotorQuadState
Source§fn clone(&self) -> MotorQuadState
fn clone(&self) -> MotorQuadState
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 moreSource§impl Debug for MotorQuadState
impl Debug for MotorQuadState
Source§impl PartialEq for MotorQuadState
impl PartialEq for MotorQuadState
Source§fn eq(&self, other: &MotorQuadState) -> bool
fn eq(&self, other: &MotorQuadState) -> bool
Tests for
self and other values to be equal, and is used by ==.impl Copy for MotorQuadState
impl StructuralPartialEq for MotorQuadState
Auto Trait Implementations§
impl Freeze for MotorQuadState
impl RefUnwindSafe for MotorQuadState
impl Send for MotorQuadState
impl Sync for MotorQuadState
impl Unpin for MotorQuadState
impl UnsafeUnpin for MotorQuadState
impl UnwindSafe for MotorQuadState
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.