Function update_planner

pub fn update_planner(
    planner_manager: &mut PlannerManager,
    step: usize,
    time: f32,
    simulation_frequency: usize,
    quad: &Quadrotor,
    obstacles: &[Obstacle],
    planner_config: &[PlannerStepConfig],
) -> Result<(), SimulationError>

Updates the planner based on the current simulation step and configuration

Arguments

• planner_manager - The PlannerManager instance to update
• step - The current simulation step in ms unit
• time - The current simulation time
• `simulation_frequency’ - The simulation frequency in Hz
• quad - The Quadrotor instance
• obstacles - The current obstacles in the simulation
• planner_config - The planner configuration

Errors

• If the planner could not be created

Example

use peng_quad::{PlannerManager, Quadrotor, Obstacle, PlannerStepConfig, update_planner};
use nalgebra::Vector3;
let simulation_frequency = 1000;
let initial_position = Vector3::new(0.0, 0.0, 0.0);
let initial_yaw = 0.0;
let mut planner_manager = PlannerManager::new(initial_position, initial_yaw);
let step = 0;
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_config = vec![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(),
}];
update_planner(&mut planner_manager, step, time, simulation_frequency, &quadrotor, &obstacles, &planner_config).unwrap();