pub struct BipedalPlannerConfig {
pub t_sup: f64,
pub z_c: f64,
pub a: f64,
pub b: f64,
pub time_split: usize,
pub trajectory_stride: usize,
pub gravity: f64,
}Expand description
Configuration for the bipedal planner.
Fields§
§t_sup: f64Support phase duration [s].
z_c: f64Center-of-mass height [m].
a: f64Footstep modification weight on COM position error.
b: f64Footstep modification weight on COM velocity error.
time_split: usizeNumber of Euler integration steps per support phase.
trajectory_stride: usizeKeep one COM sample every trajectory_stride integration steps.
gravity: f64Gravitational acceleration [m/s^2].
Trait Implementations§
Source§impl Clone for BipedalPlannerConfig
impl Clone for BipedalPlannerConfig
Source§fn clone(&self) -> BipedalPlannerConfig
fn clone(&self) -> BipedalPlannerConfig
Returns a duplicate of the value. Read more
1.0.0 · 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 BipedalPlannerConfig
impl Debug for BipedalPlannerConfig
Source§impl Default for BipedalPlannerConfig
impl Default for BipedalPlannerConfig
impl Copy for BipedalPlannerConfig
Auto Trait Implementations§
impl Freeze for BipedalPlannerConfig
impl RefUnwindSafe for BipedalPlannerConfig
impl Send for BipedalPlannerConfig
impl Sync for BipedalPlannerConfig
impl Unpin for BipedalPlannerConfig
impl UnsafeUnpin for BipedalPlannerConfig
impl UnwindSafe for BipedalPlannerConfig
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.