peng_quad

Struct CirclePlanner

Source 
pub struct CirclePlanner {
    pub center: Vector3<f32>,
    pub radius: f32,
    pub angular_velocity: f32,
    pub start_position: Vector3<f32>,
    pub start_time: f32,
    pub duration: f32,
    pub start_yaw: f32,
    pub end_yaw: f32,
    pub ramp_time: f32,
}
Expand description

Planner for circular trajectories

§Example

use nalgebra::Vector3;
use peng_quad::CirclePlanner;
let circle_planner = CirclePlanner {
    center: Vector3::new(1.0, 1.0, 1.0),
    radius: 1.0,
    angular_velocity: 1.0,
    start_position: Vector3::new(0.0, 0.0, 0.0),
    start_time: 0.0,
    duration: 1.0,
    start_yaw: 0.0,
    end_yaw: 0.0,
    ramp_time: 0.1,
};

Fields§

§center: Vector3<f32>

Center of the circular trajectory

§radius: f32

Radius of the circular trajectory

§angular_velocity: f32

Angular velocity of the circular motion

§start_position: Vector3<f32>

Starting position of the trajectory

§start_time: f32

Start time of the trajectory

§duration: f32

Duration of the trajectory

§start_yaw: f32

Starting yaw angle

§end_yaw: f32

Ending yaw angle

§ramp_time: f32

Ramp-up time for smooth transitions

Trait Implementations§

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impl Planner for CirclePlanner

Implementation of the Planner trait for CirclePlanner

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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 state and time Read more
Source§

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

Checks if the current trajectory is finished Read more

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