Struct QuadrotorControl 

pub struct QuadrotorControl {
    pub thrust: f64,
    pub body_rates: [f64; 3],
}

Commanded collective thrust and body rates for the quadrotor.

Fields

thrust: f64

Mass-normalized collective thrust [m/s^2] along the body z-axis.

body_rates: [f64; 3]

Body angular rates [wx, wy, wz] [rad/s].

Implementations

impl QuadrotorControl

pub fn new(thrust: f64, body_rates: [f64; 3]) -> Self

pub fn hover(gravity: f64) -> Self

Hover command: thrust balancing gravity, zero body rates.

pub fn body_rate_magnitude(self) -> f64

Body-rate magnitude [rad/s].

Trait Implementations

impl Clone for QuadrotorControl

fn clone(&self) -> QuadrotorControl

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for QuadrotorControl

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

Formats the value using the given formatter.

impl PartialEq for QuadrotorControl

fn eq(&self, other: &QuadrotorControl) -> 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 QuadrotorControl

impl StructuralPartialEq for QuadrotorControl