pub struct StanleyController { /* private fields */ }Expand description
Stanley path tracking controller
Implementations§
Source§impl StanleyController
impl StanleyController
Sourcepub fn new(config: StanleyConfig) -> Self
pub fn new(config: StanleyConfig) -> Self
Create a new Stanley controller
Sourcepub fn with_params(k: f64, wheelbase: f64) -> Self
pub fn with_params(k: f64, wheelbase: f64) -> Self
Create with simplified parameters (legacy interface)
Sourcepub fn set_path_with_yaw(&mut self, path: Path2D, yaw: Vec<f64>)
pub fn set_path_with_yaw(&mut self, path: Path2D, yaw: Vec<f64>)
Set the reference path with pre-computed yaw angles
Sourcepub fn compute_steering(&mut self, state: &VehicleState) -> f64
pub fn compute_steering(&mut self, state: &VehicleState) -> f64
Compute steering angle using Stanley control law
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 StanleyController
impl PathTracker for StanleyController
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 StanleyController
impl RefUnwindSafe for StanleyController
impl Send for StanleyController
impl Sync for StanleyController
impl Unpin for StanleyController
impl UnsafeUnpin for StanleyController
impl UnwindSafe for StanleyController
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> 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
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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.