pub struct ClosedLoopRRTStarConfig {
pub rrt_config: RRTStarRSConfig,
pub vehicle: UnicycleParams,
pub pursuit: PurePursuitParams,
pub target_speed: f64,
pub yaw_threshold: f64,
pub xy_threshold: f64,
pub invalid_travel_ratio: f64,
pub final_yaw_tolerance: f64,
}Expand description
Configuration for the Closed-Loop RRT* planner.
Fields§
§rrt_config: RRTStarRSConfigUnderlying RRT*-Reeds-Shepp configuration.
vehicle: UnicycleParamsVehicle (unicycle) model parameters.
pursuit: PurePursuitParamsPure-pursuit tracking parameters.
target_speed: f64Target speed for the forward simulation [m/s].
yaw_threshold: f64Yaw threshold for checking goal candidates from the tree [rad].
xy_threshold: f64Position threshold for checking goal candidates from the tree [m].
invalid_travel_ratio: f64If tracked_travel / geometric_travel exceeds this ratio, the path is
rejected as inefficient.
final_yaw_tolerance: f64Yaw tolerance for the final simulated heading [rad].
Trait Implementations§
Source§impl Clone for ClosedLoopRRTStarConfig
impl Clone for ClosedLoopRRTStarConfig
Source§fn clone(&self) -> ClosedLoopRRTStarConfig
fn clone(&self) -> ClosedLoopRRTStarConfig
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 ClosedLoopRRTStarConfig
impl Debug for ClosedLoopRRTStarConfig
Auto Trait Implementations§
impl Freeze for ClosedLoopRRTStarConfig
impl RefUnwindSafe for ClosedLoopRRTStarConfig
impl Send for ClosedLoopRRTStarConfig
impl Sync for ClosedLoopRRTStarConfig
impl Unpin for ClosedLoopRRTStarConfig
impl UnsafeUnpin for ClosedLoopRRTStarConfig
impl UnwindSafe for ClosedLoopRRTStarConfig
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.