pub struct MptgConfig {
pub wheel_base: f64,
pub ds: f64,
pub velocity: f64,
pub h: Vector3<f64>,
pub max_iter: usize,
pub cost_th: f64,
}Expand description
Parameters for the trajectory generator.
Fields§
§wheel_base: f64Wheel base length [m]
ds: f64Step distance for trajectory discretization [m]
velocity: f64Constant forward velocity used in the motion model [m/s]
h: Vector3<f64>Finite-difference step sizes for numerical Jacobian (h_s, h_km, h_kf)
max_iter: usizeMaximum number of optimization iterations
cost_th: f64Cost (terminal error norm) convergence threshold
Trait Implementations§
Source§impl Clone for MptgConfig
impl Clone for MptgConfig
Source§fn clone(&self) -> MptgConfig
fn clone(&self) -> MptgConfig
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 MptgConfig
impl Debug for MptgConfig
Auto Trait Implementations§
impl Freeze for MptgConfig
impl RefUnwindSafe for MptgConfig
impl Send for MptgConfig
impl Sync for MptgConfig
impl Unpin for MptgConfig
impl UnsafeUnpin for MptgConfig
impl UnwindSafe for MptgConfig
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.