rust_robotics_control::racing_mppi_quadrotor

Struct QuadrotorLapReport

pub struct QuadrotorLapReport {Show 14 fields
    pub steps: usize,
    pub gates_passed: usize,
    pub laps_completed: usize,
    pub lap_fraction: f64,
    pub mean_speed: f64,
    pub max_speed: f64,
    pub path_length: f64,
    pub gate_distance: f64,
    pub min_aperture_margin: f64,
    pub mean_tilt: f64,
    pub max_tilt: f64,
    pub mean_body_rate: f64,
    pub first_lap_time: Option<f64>,
    pub path: Vec<[f64; 3]>,
}

Expand description

Lap-progress and attitude metrics from a quadrotor racing rollout.

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§steps: usize

Control steps executed.

§gates_passed: usize

Total gate passes across the whole rollout (counts repeated laps).

§laps_completed: usize

Whole laps completed.

§lap_fraction: f64

Fraction of the current (partial) lap completed, in [0, 1).

§mean_speed: f64

Mean speed [m/s] over the rollout.

§max_speed: f64

Peak speed [m/s] over the rollout.

§path_length: f64

Executed path length [m].

§gate_distance: f64

Distance [m] to the active gate at the end of the rollout.

§min_aperture_margin: f64

Smallest normalized aperture margin at any gate crossing (1 = center, 0 = edge); INFINITY if no gate was crossed.

§mean_tilt: f64

Mean tilt angle [rad] of the thrust axis from world up.

§max_tilt: f64

Peak tilt angle [rad] of the thrust axis from world up.

§mean_body_rate: f64

Mean commanded body-rate magnitude [rad/s].

§first_lap_time: Option<f64>

Time [s] of the first completed lap, or None.

§path: Vec<[f64; 3]>

Executed positions, including the start.

Trait Implementations§

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impl Clone for QuadrotorLapReport

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fn clone(&self) -> QuadrotorLapReport

Returns a duplicate of the value. Read more

1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more

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impl Debug for QuadrotorLapReport

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

Formats the value using the given formatter. Read more

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impl PartialEq for QuadrotorLapReport

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

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

1.0.0 (const: unstable) · Source§

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

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

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impl StructuralPartialEq for QuadrotorLapReport

Auto Trait Implementations§

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impl UnwindSafe for QuadrotorLapReport

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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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 more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

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

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