pub struct QuadrotorMppiController { /* private fields */ }Expand description
Deterministic, seeded MPPI controller for quadrotor gate racing.
Implementations§
Source§impl QuadrotorMppiController
impl QuadrotorMppiController
pub fn new( config: QuadrotorMppiConfig, params: QuadrotorParams, ) -> RoboticsResult<Self>
pub fn config(&self) -> &QuadrotorMppiConfig
Sourcepub fn plan(
&mut self,
start: QuadrotorState,
lap: &RacingGateLap3D,
passed: usize,
) -> RoboticsResult<QuadrotorMppiPlan>
pub fn plan( &mut self, start: QuadrotorState, lap: &RacingGateLap3D, passed: usize, ) -> RoboticsResult<QuadrotorMppiPlan>
Plan the next control given the current state, lap, and pass count.
Trait Implementations§
Source§impl Clone for QuadrotorMppiController
impl Clone for QuadrotorMppiController
Source§fn clone(&self) -> QuadrotorMppiController
fn clone(&self) -> QuadrotorMppiController
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 QuadrotorMppiController
impl RefUnwindSafe for QuadrotorMppiController
impl Send for QuadrotorMppiController
impl Sync for QuadrotorMppiController
impl Unpin for QuadrotorMppiController
impl UnsafeUnpin for QuadrotorMppiController
impl UnwindSafe for QuadrotorMppiController
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.