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Config

peng_quad::config

Struct Config 

Source 
pub struct Config {
Show 15 fields
    pub simulation: SimulationConfig,
    pub quadrotor: QuadrotorConfig,
    pub pid_controller: PIDControllerConfig,
    pub imu: ImuConfig,
    pub maze: MazeConfig,
    pub camera: CameraConfig,
    pub mesh: MeshConfig,
    pub planner_schedule: Vec<PlannerStep>,
    pub rerun_blueprint: String,
    pub max_render_threads: Option<usize>,
    pub use_rerun: bool,
    pub render_depth: bool,
    pub use_multithreading_depth_rendering: bool,
    pub use_rk4_for_dynamics_control: bool,
    pub use_rk4_for_dynamics_update: bool,

}
Expand description

Configuration for the simulation

Fields§

§simulation: SimulationConfig

Simulation configuration

§quadrotor: QuadrotorConfig

Quadrotor configuration

§pid_controller: PIDControllerConfig

PID Controller configuration

§imu: ImuConfig

IMU configuration

§maze: MazeConfig

Maze configuration

§camera: CameraConfig

Camera configuration

§mesh: MeshConfig

Mesh configuration

§planner_schedule: Vec<PlannerStep>

Planner schedule configuration

§rerun_blueprint: String

Rerun blueprint path

§max_render_threads: Option<usize>

Maximum number of threads for rendering

§use_rerun: bool

Use rerun.io for recording

§render_depth: bool

Render depth

§use_multithreading_depth_rendering: bool

MultiThreading depth rendering

§use_rk4_for_dynamics_control: bool

Use RK4 for updating quadrotor dynamics_with_controls

§use_rk4_for_dynamics_update: bool

Use RK4 for updating quadrotor dynamics without controls

Implementations§

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impl Config

Implementation of the Config struct

Source

pub fn from_yaml(filename: &str) -> Result<Self, Box<dyn Error>>

Load configuration from a YAML file.

§Arguments
  • filename - The name of the file to load.
§Returns
  • The configuration object.
§Errors
  • If the file cannot be read or the YAML cannot be parsed.

Trait Implementations§

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impl<'de> Deserialize<'de> for Config

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fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more

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