Function create_planner

pub fn create_planner(
    step: &PlannerStepConfig,
    quad: &Quadrotor,
    time: f32,
    obstacles: &[Obstacle],
) -> Result<PlannerType, SimulationError>

Creates a planner based on the configuration

Arguments

• step - The configuration for the planner step in ms unit
• quad - The Quadrotor instance
• time - The current simulation time
• obstacles - The current obstacles in the simulation

Returns

• PlannerType - The created planner

Errors

• If the planner type is not recognized

Example

use peng_quad::{PlannerType, Quadrotor, Obstacle, PlannerStepConfig, create_planner};
use nalgebra::Vector3;
let step = PlannerStepConfig {
   step: 0,
  planner_type: "MinimumJerkLine".to_string(),
  params:
      serde_yaml::from_str(r#"
      end_position: [0.0, 0.0, 1.0]
      end_yaw: 0.0
      duration: 2.0
      "#).unwrap(),
};
let time = 0.0;
let (time_step, mass, gravity, drag_coefficient) = (0.01, 1.3, 9.81, 0.01);
let inertia_matrix = [0.0347563, 0.0, 0.0, 0.0, 0.0458929, 0.0, 0.0, 0.0, 0.0977];
let quadrotor = Quadrotor::new(time_step, mass, gravity, drag_coefficient, inertia_matrix).unwrap();
let obstacles = vec![Obstacle::new(Vector3::new(0.0, 0.0, 0.0), Vector3::new(0.0, 0.0, 0.0), 1.0)];
let planner = create_planner(&step, &quadrotor, time, &obstacles).unwrap();
match planner {
   PlannerType::MinimumJerkLine(_) => log::info!("Created MinimumJerkLine planner"),
  _ => log::info!("Created another planner"),
}