pub struct QuadrotorMppiConfig {
pub horizon: usize,
pub samples: usize,
pub dt: f64,
pub thrust_sigma: f64,
pub rate_sigma: f64,
pub velocity_weight: f64,
pub rate_weight: f64,
pub level_weight: f64,
pub lambda: f64,
pub seed: u64,
}Expand description
Configuration for the deterministic quadrotor racing MPPI controller.
Fields§
§horizon: usize§samples: usize§dt: f64§thrust_sigma: f64Std-dev of thrust perturbations [m/s^2].
rate_sigma: f64Std-dev of body-rate perturbations [rad/s].
velocity_weight: f64Weight on the squared speed regularizer.
rate_weight: f64Weight on the squared body-rate regularizer.
level_weight: f64Weight penalizing tilt (keeps the drone from flipping under noise).
lambda: f64§seed: u64Trait Implementations§
Source§impl Clone for QuadrotorMppiConfig
impl Clone for QuadrotorMppiConfig
Source§fn clone(&self) -> QuadrotorMppiConfig
fn clone(&self) -> QuadrotorMppiConfig
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 QuadrotorMppiConfig
impl Debug for QuadrotorMppiConfig
Source§impl Default for QuadrotorMppiConfig
impl Default for QuadrotorMppiConfig
Source§impl PartialEq for QuadrotorMppiConfig
impl PartialEq for QuadrotorMppiConfig
Source§fn eq(&self, other: &QuadrotorMppiConfig) -> bool
fn eq(&self, other: &QuadrotorMppiConfig) -> bool
Tests for
self and other values to be equal, and is used by ==.impl StructuralPartialEq for QuadrotorMppiConfig
Auto Trait Implementations§
impl Freeze for QuadrotorMppiConfig
impl RefUnwindSafe for QuadrotorMppiConfig
impl Send for QuadrotorMppiConfig
impl Sync for QuadrotorMppiConfig
impl Unpin for QuadrotorMppiConfig
impl UnsafeUnpin for QuadrotorMppiConfig
impl UnwindSafe for QuadrotorMppiConfig
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.