Enum PlannerType

pub enum PlannerType {
    Hover(HoverPlanner),
    MinimumJerkLine(MinimumJerkLinePlanner),
    Lissajous(LissajousPlanner),
    Circle(CirclePlanner),
    Landing(LandingPlanner),
    ObstacleAvoidance(ObstacleAvoidancePlanner),
    MinimumSnapWaypoint(MinimumSnapWaypointPlanner),
    QPpolyTraj(QPpolyTrajPlanner),
}

Enum representing different types of trajectory planners

Example

use peng_quad::PlannerType;
use peng_quad::HoverPlanner;
let hover_planner : PlannerType = PlannerType::Hover(HoverPlanner{
    target_position: nalgebra::Vector3::new(0.0, 0.0, 1.0),
    target_yaw: 0.0,
});

Variants

Hover(HoverPlanner)

Hover planner

MinimumJerkLine(MinimumJerkLinePlanner)

Minimum jerk line planner

Lissajous(LissajousPlanner)

Minimum jerk circle planner

Circle(CirclePlanner)

Minimum jerk circle planner

Landing(LandingPlanner)

Minimum jerk landing planner

ObstacleAvoidance(ObstacleAvoidancePlanner)

Obstacle avoidance planner

MinimumSnapWaypoint(MinimumSnapWaypointPlanner)

Minimum snap waypoint planner

QPpolyTraj(QPpolyTrajPlanner)

Quadratic Polynomial based waypoint planner

Implementations

impl PlannerType

Implementation of the planner type

pub fn plan( &self, current_position: Vector3<f32>, current_velocity: Vector3<f32>, time: f32, ) -> (Vector3<f32>, Vector3<f32>, f32)

Plans the trajectory based on the current planner type

Arguments

• current_position - The current position of the quadrotor
• current_velocity - The current velocity of the quadrotor
• time - The current simulation time

Returns

• A tuple containing the desired position, velocity, and yaw angle

Example

use nalgebra::Vector3;
use peng_quad::PlannerType;
use peng_quad::HoverPlanner;
let hover_planner = HoverPlanner {
    target_position: Vector3::new(0.0, 0.0, 1.0),
    target_yaw: 0.0
};
let hover_planner_type = PlannerType::Hover(hover_planner);
let (desired_position, desired_velocity, desired_yaw) = hover_planner_type.plan(Vector3::new(0.0, 0.0, 0.0), Vector3::new(0.0, 0.0, 0.0), 0.0);

pub fn is_finished( &self, current_position: Vector3<f32>, time: f32, ) -> Result<bool, SimulationError>

Checks if the current trajectory is finished

Arguments

• current_position - The current position of the quadrotor
• time - The current simulation time

Returns

• true if the trajectory is finished, false otherwise

Example

use nalgebra::Vector3;
use peng_quad::PlannerType;
use peng_quad::HoverPlanner;
use peng_quad::Planner;
let hover_planner = HoverPlanner{
    target_position: Vector3::new(0.0, 0.0, 1.0),
    target_yaw: 0.0,
};
let is_finished = hover_planner.is_finished(Vector3::new(0.0, 0.0, 0.0), 0.0);