Struct ChargeBudget 

pub struct ChargeBudget {
    pub weight: f64,
    pub reserve: f64,
}

Powertrain-aware MPPI controller.

Unlike MotorMppiController, which rolls candidate commands out through the ideal motor model, this controller rolls them out through the full PowertrainParams::step — so its samples already feel the motor lag and the battery-limited thrust ceiling. Commands above the (causal) ceiling are clamped inside the rollout, so over-commanding earns no gate progress while still paying the rotor-effort penalty; the controller is therefore pushed to plan within the authority the battery can actually deliver, and it sees the pack drain over the horizon rather than assuming infinite charge. A charge-budget term for the powertrain-aware controller.

Once a rollout step’s state of charge falls below reserve, the rollout cost gains weight * (reserve - soc) * load, where load is the electrical draw. Because the penalty scales with load it gives the rollout an actionable gradient — throttle back when low — that a slow-moving state-of-charge term cannot. weight = 0 recovers the plain aware controller.

Fields

weight: f64

Penalty scale on below-reserve current draw; clamped to >= 0.

reserve: f64

State-of-charge floor to protect, in [0, 1].

Implementations

impl ChargeBudget

pub fn new(weight: f64, reserve: f64) -> Self

A charge budget with the given weight and reserve, sanitized to sane ranges (weight >= 0 and finite, reserve in [0, 1]).

pub fn none() -> Self

The no-op budget (weight = 0): the plain aware controller.

Trait Implementations

impl Clone for ChargeBudget

fn clone(&self) -> ChargeBudget

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ChargeBudget

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

Formats the value using the given formatter.

impl PartialEq for ChargeBudget

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

Tests for self and other values to be equal, and is used by ==.

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

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

impl Copy for ChargeBudget

impl StructuralPartialEq for ChargeBudget