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DWAConfig

rust_robotics_planning::dwa

Struct DWAConfig 

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pub struct DWAConfig {
Show 17 fields
    pub max_speed: f64,
    pub min_speed: f64,
    pub max_yaw_rate: f64,
    pub max_accel: f64,
    pub max_delta_yaw_rate: f64,
    pub v_resolution: f64,
    pub yaw_rate_resolution: f64,
    pub dt: f64,
    pub predict_time: f64,
    pub to_goal_cost_gain: f64,
    pub speed_cost_gain: f64,
    pub obstacle_cost_gain: f64,
    pub robot_type: DWARobotType,
    pub robot_radius: f64,
    pub robot_width: f64,
    pub robot_length: f64,
    pub goal_threshold: f64,

}
Expand description

Configuration for DWA planner

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§max_speed: f64§min_speed: f64§max_yaw_rate: f64§max_accel: f64§max_delta_yaw_rate: f64§v_resolution: f64§yaw_rate_resolution: f64§dt: f64§predict_time: f64§to_goal_cost_gain: f64§speed_cost_gain: f64§obstacle_cost_gain: f64§robot_type: DWARobotType§robot_radius: f64§robot_width: f64§robot_length: f64§goal_threshold: f64

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impl DWAConfig

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pub fn validate(&self) -> RoboticsResult<()>

Trait Implementations§

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impl Clone for DWAConfig

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fn clone(&self) -> DWAConfig

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 DWAConfig

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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 DWAConfig

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fn default() -> Self

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

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

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

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