pub struct PowertrainMppiController { /* private fields */ }Implementations§
Source§impl PowertrainMppiController
impl PowertrainMppiController
pub fn new( config: MotorMppiConfig, params: PowertrainParams, ) -> RoboticsResult<Self>
Sourcepub fn with_charge_budget(self, budget: ChargeBudget) -> Self
pub fn with_charge_budget(self, budget: ChargeBudget) -> Self
Attach a ChargeBudget so the controller eases off below the reserve
and trades raw gate progress for charge held back for later laps.
pub fn config(&self) -> &MotorMppiConfig
Sourcepub fn plan(
&mut self,
start: PowertrainState,
lap: &RacingGateLap3D,
passed: usize,
) -> RoboticsResult<MotorMppiPlan>
pub fn plan( &mut self, start: PowertrainState, lap: &RacingGateLap3D, passed: usize, ) -> RoboticsResult<MotorMppiPlan>
Plan the next rotor command given the full powertrain state, lap, and pass count.
Trait Implementations§
Source§impl Clone for PowertrainMppiController
impl Clone for PowertrainMppiController
Source§fn clone(&self) -> PowertrainMppiController
fn clone(&self) -> PowertrainMppiController
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 PowertrainMppiController
impl RefUnwindSafe for PowertrainMppiController
impl Send for PowertrainMppiController
impl Sync for PowertrainMppiController
impl Unpin for PowertrainMppiController
impl UnsafeUnpin for PowertrainMppiController
impl UnwindSafe for PowertrainMppiController
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.