pub struct PowertrainState {
pub motor: MotorQuadState,
pub rotor_thrust: [f64; 4],
pub battery_soc: f64,
pub relaxation: f64,
}Expand description
State of the powertrain-level quadrotor.
Fields§
§motor: MotorQuadStateRigid-body state (position, velocity, attitude, body rates).
rotor_thrust: [f64; 4]Actual (lagged) per-rotor thrusts [m/s^2], mass-normalized.
battery_soc: f64Battery state of charge in [0, 1].
relaxation: f64Battery relaxation overpotential in [0, 1]: a recoverable voltage
depression that builds under sustained load and decays (the terminal
voltage recovers) when the load eases. Distinct from battery_soc, which
is the irreversible charge consumed.
Implementations§
Source§impl PowertrainState
impl PowertrainState
Sourcepub fn at(x: f64, y: f64, z: f64, gravity: f64) -> Self
pub fn at(x: f64, y: f64, z: f64, gravity: f64) -> Self
Level hover state with a full battery and rotors already at hover thrust.
Sourcepub fn at_soc(x: f64, y: f64, z: f64, gravity: f64, soc: f64) -> Self
pub fn at_soc(x: f64, y: f64, z: f64, gravity: f64, soc: f64) -> Self
Level hover state at a given starting state of charge.
pub fn speed(self) -> f64
pub fn tilt_angle(self) -> f64
Trait Implementations§
Source§impl Clone for PowertrainState
impl Clone for PowertrainState
Source§fn clone(&self) -> PowertrainState
fn clone(&self) -> PowertrainState
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 PowertrainState
impl Debug for PowertrainState
Source§impl PartialEq for PowertrainState
impl PartialEq for PowertrainState
Source§fn eq(&self, other: &PowertrainState) -> bool
fn eq(&self, other: &PowertrainState) -> bool
Tests for
self and other values to be equal, and is used by ==.impl Copy for PowertrainState
impl StructuralPartialEq for PowertrainState
Auto Trait Implementations§
impl Freeze for PowertrainState
impl RefUnwindSafe for PowertrainState
impl Send for PowertrainState
impl Sync for PowertrainState
impl Unpin for PowertrainState
impl UnsafeUnpin for PowertrainState
impl UnwindSafe for PowertrainState
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.