pub struct ChompConfig {
pub n_waypoints: usize,
pub dt: f64,
pub max_iterations: usize,
pub learning_rate: f64,
pub obstacle_cost_weight: f64,
pub smoothness_weight: f64,
}Expand description
Configuration for CHOMP trajectory optimization.
Fields§
§n_waypoints: usizeNumber of waypoints including start and goal.
dt: f64Time step [s] used for smoothness scaling.
max_iterations: usizeMaximum optimization iterations.
learning_rate: f64Gradient descent step size.
obstacle_cost_weight: f64Weight for obstacle potential.
smoothness_weight: f64Weight for smoothness penalty.
Trait Implementations§
Source§impl Clone for ChompConfig
impl Clone for ChompConfig
Source§fn clone(&self) -> ChompConfig
fn clone(&self) -> ChompConfig
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 ChompConfig
impl Debug for ChompConfig
Source§impl Default for ChompConfig
impl Default for ChompConfig
impl Copy for ChompConfig
Auto Trait Implementations§
impl Freeze for ChompConfig
impl RefUnwindSafe for ChompConfig
impl Send for ChompConfig
impl Sync for ChompConfig
impl Unpin for ChompConfig
impl UnsafeUnpin for ChompConfig
impl UnwindSafe for ChompConfig
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.