pub struct StateLatticeConfig {Show 14 fields
pub motion_config: MotionModelConfig,
pub trajectory_config: TrajectoryGeneratorConfig,
pub nxy: usize,
pub nh: usize,
pub d: f64,
pub a_min: f64,
pub a_max: f64,
pub p_min: f64,
pub p_max: f64,
pub lane_center: f64,
pub lane_heading: f64,
pub lane_width: f64,
pub vehicle_width: f64,
pub ns: usize,
}Expand description
Configuration for State Lattice Planner
Fields§
§motion_config: MotionModelConfigMotion model configuration
trajectory_config: TrajectoryGeneratorConfigTrajectory generator configuration
nxy: usizeNumber of xy samples for polar sampling
nh: usizeNumber of heading samples
d: f64Distance for sampling [m]
a_min: f64Minimum angle for sampling [rad]
a_max: f64Maximum angle for sampling [rad]
p_min: f64Minimum heading offset angle [rad]
p_max: f64Maximum heading offset angle [rad]
lane_center: f64Lane center offset
lane_heading: f64Lane heading
lane_width: f64Lane width [m]
vehicle_width: f64Vehicle width [m]
ns: usizeNumber of samples for biased sampling
Trait Implementations§
Source§impl Clone for StateLatticeConfig
impl Clone for StateLatticeConfig
Source§fn clone(&self) -> StateLatticeConfig
fn clone(&self) -> StateLatticeConfig
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 StateLatticeConfig
impl Debug for StateLatticeConfig
Auto Trait Implementations§
impl Freeze for StateLatticeConfig
impl RefUnwindSafe for StateLatticeConfig
impl Send for StateLatticeConfig
impl Sync for StateLatticeConfig
impl Unpin for StateLatticeConfig
impl UnsafeUnpin for StateLatticeConfig
impl UnwindSafe for StateLatticeConfig
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.