Struct LissajousPlanner 

pub struct LissajousPlanner {
    pub start_position: Vector3<f32>,
    pub center: Vector3<f32>,
    pub amplitude: Vector3<f32>,
    pub frequency: Vector3<f32>,
    pub phase: Vector3<f32>,
    pub start_time: f32,
    pub duration: f32,
    pub start_yaw: f32,
    pub end_yaw: f32,
    pub ramp_time: f32,
}

Planner for Lissajous curve trajectories

Example

use nalgebra::Vector3;
use peng_quad::LissajousPlanner;
let lissajous_planner = LissajousPlanner {
    start_position: Vector3::new(0.0, 0.0, 0.0),
    center: Vector3::new(1.0, 1.0, 1.0),
    amplitude: Vector3::new(1.0, 1.0, 1.0),
    frequency: Vector3::new(1.0, 1.0, 1.0),
    phase: 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

start_position: Vector3<f32>

Starting position of the trajectory

center: Vector3<f32>

Center of the Lissajous curve

amplitude: Vector3<f32>

Amplitude of the Lissajous curve

frequency: Vector3<f32>

Frequency of the Lissajous curve

phase: Vector3<f32>

Phase of the Lissajous curve

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

impl Planner for LissajousPlanner

Implementation of the planner trait for Lissajous curve trajectories

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

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

Checks if the current trajectory is finished