rust_robotics_planning::branchout_multimodal

Struct BranchOutClosedLoopConfig2D

pub struct BranchOutClosedLoopConfig2D {
    pub steps: usize,
    pub ttc_threshold: f64,
    pub goal_completion: f64,
    pub max_lateral_speed: f64,
}

Expand description

Configuration for a receding-horizon closed-loop BranchOut rollout.

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§steps: usize

Number of closed-loop control steps to execute.

§ttc_threshold: f64

Time-to-collision threshold; steps below it count as risky.

§goal_completion: f64

Route fraction at or above which the goal counts as reached.

§max_lateral_speed: f64

Maximum lateral speed used when tracking the selected mode’s lane.

Trait Implementations§

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impl Clone for BranchOutClosedLoopConfig2D

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fn clone(&self) -> BranchOutClosedLoopConfig2D

Returns a duplicate of the value. Read more

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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

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impl Debug for BranchOutClosedLoopConfig2D

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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impl Default for BranchOutClosedLoopConfig2D

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fn default() -> Self

Returns the “default value” for a type. Read more

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impl PartialEq for BranchOutClosedLoopConfig2D

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fn eq(&self, other: &BranchOutClosedLoopConfig2D) -> bool

Tests for self and other values to be equal, and is used by ==.

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fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

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impl Copy for BranchOutClosedLoopConfig2D

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impl StructuralPartialEq for BranchOutClosedLoopConfig2D

Auto Trait Implementations§

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impl UnwindSafe for BranchOutClosedLoopConfig2D

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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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 more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

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

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