pub struct RearWheelFeedbackController { /* private fields */ }Expand description
Rear Wheel Feedback path tracking controller
Implementations§
Source§impl RearWheelFeedbackController
impl RearWheelFeedbackController
Sourcepub fn new(config: RearWheelFeedbackConfig) -> Self
pub fn new(config: RearWheelFeedbackConfig) -> Self
Create a new Rear Wheel Feedback controller
Sourcepub fn with_params(kth: f64, ke: f64, wheelbase: f64) -> Self
pub fn with_params(kth: f64, ke: f64, wheelbase: f64) -> Self
Create with simplified parameters (legacy interface)
Sourcepub fn set_path_with_info(
&mut self,
path: Path2D,
yaw: Vec<f64>,
curvature: Vec<f64>,
)
pub fn set_path_with_info( &mut self, path: Path2D, yaw: Vec<f64>, curvature: Vec<f64>, )
Set the reference path with pre-computed yaw angles and curvatures
Sourcepub fn compute_steering(&mut self, state: &VehicleState) -> f64
pub fn compute_steering(&mut self, state: &VehicleState) -> f64
Compute steering angle using rear wheel feedback control law
Control law: omega = v * k * cos(th_e) / (1.0 - k * e) - KTH * |v| * th_e - KE * v * sin(th_e) * e / th_e delta = atan2(L * omega / v, 1.0)
Sourcepub fn compute_acceleration(&self, target_speed: f64, current_speed: f64) -> f64
pub fn compute_acceleration(&self, target_speed: f64, current_speed: f64) -> f64
Proportional speed control
Sourcepub fn is_goal_reached_vehicle(&self, state: &VehicleState) -> bool
pub fn is_goal_reached_vehicle(&self, state: &VehicleState) -> bool
Check if goal is reached
Trait Implementations§
Source§impl PathTracker for RearWheelFeedbackController
impl PathTracker for RearWheelFeedbackController
Source§fn compute_control(
&mut self,
current_state: &State2D,
path: &Path2D,
) -> ControlInput
fn compute_control( &mut self, current_state: &State2D, path: &Path2D, ) -> ControlInput
Compute control input to follow the path
Source§fn is_goal_reached(&self, current_state: &State2D, goal: Point2D) -> bool
fn is_goal_reached(&self, current_state: &State2D, goal: Point2D) -> bool
Check if the goal has been reached
Auto Trait Implementations§
impl Freeze for RearWheelFeedbackController
impl RefUnwindSafe for RearWheelFeedbackController
impl Send for RearWheelFeedbackController
impl Sync for RearWheelFeedbackController
impl Unpin for RearWheelFeedbackController
impl UnsafeUnpin for RearWheelFeedbackController
impl UnwindSafe for RearWheelFeedbackController
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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> IntoEither for T
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 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>
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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
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Checks if
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fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.