pub struct QuadrotorState {
pub position: [f64; 3],
pub velocity: [f64; 3],
pub attitude: [f64; 4],
}Expand description
State of the quadrotor: position [m], velocity [m/s], and a unit
quaternion attitude [w, x, y, z] (body-to-world rotation).
Fields§
§position: [f64; 3]§velocity: [f64; 3]§attitude: [f64; 4]Implementations§
Source§impl QuadrotorState
impl QuadrotorState
Sourcepub fn at(x: f64, y: f64, z: f64) -> Self
pub fn at(x: f64, y: f64, z: f64) -> Self
Level hover state at the given position (identity attitude, zero velocity).
pub fn speed(self) -> f64
Sourcepub fn thrust_axis(self) -> [f64; 3]
pub fn thrust_axis(self) -> [f64; 3]
The body z-axis (thrust direction) expressed in the world frame.
Sourcepub fn tilt_angle(self) -> f64
pub fn tilt_angle(self) -> f64
Tilt angle [rad] between the thrust axis and world up, in [0, pi].
Trait Implementations§
Source§impl Clone for QuadrotorState
impl Clone for QuadrotorState
Source§fn clone(&self) -> QuadrotorState
fn clone(&self) -> QuadrotorState
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 QuadrotorState
impl Debug for QuadrotorState
Source§impl PartialEq for QuadrotorState
impl PartialEq for QuadrotorState
Source§fn eq(&self, other: &QuadrotorState) -> bool
fn eq(&self, other: &QuadrotorState) -> bool
Tests for
self and other values to be equal, and is used by ==.impl Copy for QuadrotorState
impl StructuralPartialEq for QuadrotorState
Auto Trait Implementations§
impl Freeze for QuadrotorState
impl RefUnwindSafe for QuadrotorState
impl Send for QuadrotorState
impl Sync for QuadrotorState
impl Unpin for QuadrotorState
impl UnsafeUnpin for QuadrotorState
impl UnwindSafe for QuadrotorState
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.