peng_quad

Struct MinimumJerkLinePlanner

Source 
pub struct MinimumJerkLinePlanner {
    pub start_position: Vector3<f32>,
    pub end_position: Vector3<f32>,
    pub start_yaw: f32,
    pub end_yaw: f32,
    pub start_time: f32,
    pub duration: f32,
}
Expand description

Planner for minimum jerk trajectories along a straight line

§Example

use nalgebra::Vector3;
use peng_quad::MinimumJerkLinePlanner;
let minimum_jerk_line_planner = MinimumJerkLinePlanner {
    start_position: Vector3::new(0.0, 0.0, 0.0),
    end_position: Vector3::new(1.0, 1.0, 1.0),
    start_yaw: 0.0,
    end_yaw: 0.0,
    start_time: 0.0,
    duration: 1.0,
};

Fields§

§start_position: Vector3<f32>

Starting position of the trajectory

§end_position: Vector3<f32>

Ending position of the trajectory

§start_yaw: f32

Starting yaw angle

§end_yaw: f32

Ending yaw angle

§start_time: f32

Start time of the trajectory

§duration: f32

Duration of the trajectory

Trait Implementations§

Source§

impl Planner for MinimumJerkLinePlanner

Implementation of the planner trait for minimum jerk line planner

Source§

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

Auto Trait Implementations§

Blanket Implementations§

Source§

impl<T> Any for T
where T: 'static + ?Sized,

Source§

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
Source§

impl<T> Az for T

Source§

fn az<Dst>(self) -> Dst
where T: Cast<Dst>,

Casts the value.
Source§

impl<T> Borrow<T> for T
where T: ?Sized,

Source§

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
Source§

impl<T> BorrowMut<T> for T
where T: ?Sized,

Source§

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
Source§

impl<Src, Dst> CastFrom<Src> for Dst
where Src: Cast<Dst>,

Source§

fn cast_from(src: Src) -> Dst

Casts the value.
Source§

impl<T> CheckedAs for T

Source§

fn checked_as<Dst>(self) -> Option<Dst>
where T: CheckedCast<Dst>,

Casts the value.
Source§

impl<Src, Dst> CheckedCastFrom<Src> for Dst
where Src: CheckedCast<Dst>,

Source§

fn checked_cast_from(src: Src) -> Option<Dst>

Casts the value.
§

impl<T> Conv for T

§

fn conv<T>(self) -> T
where Self: Into<T>,

Converts self into T using Into<T>. Read more
Source§

impl<T> From<T> for T

Source§

fn from(t: T) -> T

Returns the argument unchanged.

§

impl<T> Instrument for T

§

fn instrument(self, span: Span) -> Instrumented<Self>

Instruments this type with the provided [Span], returning an Instrumented wrapper. Read more
§

fn in_current_span(self) -> Instrumented<Self>

Instruments this type with the current Span, returning an Instrumented wrapper. Read more
Source§

impl<T, U> Into<U> for T
where U: From<T>,

Source§

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

Source§

impl<T> IntoEither for T

Source§

fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
Source§

fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
Source§

impl<T> IntoRequest<T> for T

Source§

fn into_request(self) -> Request<T>

Wrap the input message T in a tonic::Request
Source§

impl<Src, Dst> LosslessTryInto<Dst> for Src
where Dst: LosslessTryFrom<Src>,

Source§

fn lossless_try_into(self) -> Option<Dst>

Performs the conversion.
Source§

impl<Src, Dst> LossyInto<Dst> for Src
where Dst: LossyFrom<Src>,

Source§

fn lossy_into(self) -> Dst

Performs the conversion.
Source§

impl<T> OverflowingAs for T

Source§

fn overflowing_as<Dst>(self) -> (Dst, bool)
where T: OverflowingCast<Dst>,

Casts the value.
Source§

impl<Src, Dst> OverflowingCastFrom<Src> for Dst
where Src: OverflowingCast<Dst>,

Source§

fn overflowing_cast_from(src: Src) -> (Dst, bool)

Casts the value.
§

impl<T> Pipe for T
where T: ?Sized,

§

fn pipe<R>(self, func: impl FnOnce(Self) -> R) -> R
where Self: Sized,

Pipes by value. This is generally the method you want to use. Read more
§

fn pipe_ref<'a, R>(&'a self, func: impl FnOnce(&'a Self) -> R) -> R
where R: 'a,

Borrows self and passes that borrow into the pipe function. Read more
§

fn pipe_ref_mut<'a, R>(&'a mut self, func: impl FnOnce(&'a mut Self) -> R) -> R
where R: 'a,

Mutably borrows self and passes that borrow into the pipe function. Read more
§

fn pipe_borrow<'a, B, R>(&'a self, func: impl FnOnce(&'a B) -> R) -> R
where Self: Borrow<B>, B: 'a + ?Sized, R: 'a,

Borrows self, then passes self.borrow() into the pipe function. Read more
§

fn pipe_borrow_mut<'a, B, R>( &'a mut self, func: impl FnOnce(&'a mut B) -> R, ) -> R
where Self: BorrowMut<B>, B: 'a + ?Sized, R: 'a,

Mutably borrows self, then passes self.borrow_mut() into the pipe function. Read more
§

fn pipe_as_ref<'a, U, R>(&'a self, func: impl FnOnce(&'a U) -> R) -> R
where Self: AsRef<U>, U: 'a + ?Sized, R: 'a,

Borrows self, then passes self.as_ref() into the pipe function.
§

fn pipe_as_mut<'a, U, R>(&'a mut self, func: impl FnOnce(&'a mut U) -> R) -> R
where Self: AsMut<U>, U: 'a + ?Sized, R: 'a,

Mutably borrows self, then passes self.as_mut() into the pipe function.
§

fn pipe_deref<'a, T, R>(&'a self, func: impl FnOnce(&'a T) -> R) -> R
where Self: Deref<Target = T>, T: 'a + ?Sized, R: 'a,

Borrows self, then passes self.deref() into the pipe function.
§

fn pipe_deref_mut<'a, T, R>( &'a mut self, func: impl FnOnce(&'a mut T) -> R, ) -> R
where Self: DerefMut<Target = T> + Deref, T: 'a + ?Sized, R: 'a,

Mutably borrows self, then passes self.deref_mut() into the pipe function.
§

impl<T> Pointable for T

§

const ALIGN: usize

The alignment of pointer.
§

type Init = T

The type for initializers.
§

unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more
§

unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more
§

unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

Mutably dereferences the given pointer. Read more
§

unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more
Source§

impl<T> Same for T

Source§

type Output = T

Should always be Self
Source§

impl<T> SaturatingAs for T

Source§

fn saturating_as<Dst>(self) -> Dst
where T: SaturatingCast<Dst>,

Casts the value.
Source§

impl<Src, Dst> SaturatingCastFrom<Src> for Dst
where Src: SaturatingCast<Dst>,

Source§

fn saturating_cast_from(src: Src) -> Dst

Casts the value.
§

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

§

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
§

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).
§

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
§

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.
§

impl<T> Tap for T

§

fn tap(self, func: impl FnOnce(&Self)) -> Self

Immutable access to a value. Read more
§

fn tap_mut(self, func: impl FnOnce(&mut Self)) -> Self

Mutable access to a value. Read more
§

fn tap_borrow<B>(self, func: impl FnOnce(&B)) -> Self
where Self: Borrow<B>, B: ?Sized,

Immutable access to the Borrow<B> of a value. Read more
§

fn tap_borrow_mut<B>(self, func: impl FnOnce(&mut B)) -> Self
where Self: BorrowMut<B>, B: ?Sized,

Mutable access to the BorrowMut<B> of a value. Read more
§

fn tap_ref<R>(self, func: impl FnOnce(&R)) -> Self
where Self: AsRef<R>, R: ?Sized,

Immutable access to the AsRef<R> view of a value. Read more
§

fn tap_ref_mut<R>(self, func: impl FnOnce(&mut R)) -> Self
where Self: AsMut<R>, R: ?Sized,

Mutable access to the AsMut<R> view of a value. Read more
§

fn tap_deref<T>(self, func: impl FnOnce(&T)) -> Self
where Self: Deref<Target = T>, T: ?Sized,

Immutable access to the Deref::Target of a value. Read more
§

fn tap_deref_mut<T>(self, func: impl FnOnce(&mut T)) -> Self
where Self: DerefMut<Target = T> + Deref, T: ?Sized,

Mutable access to the Deref::Target of a value. Read more
§

fn tap_dbg(self, func: impl FnOnce(&Self)) -> Self

Calls .tap() only in debug builds, and is erased in release builds.
§

fn tap_mut_dbg(self, func: impl FnOnce(&mut Self)) -> Self

Calls .tap_mut() only in debug builds, and is erased in release builds.
§

fn tap_borrow_dbg<B>(self, func: impl FnOnce(&B)) -> Self
where Self: Borrow<B>, B: ?Sized,

Calls .tap_borrow() only in debug builds, and is erased in release builds.
§

fn tap_borrow_mut_dbg<B>(self, func: impl FnOnce(&mut B)) -> Self
where Self: BorrowMut<B>, B: ?Sized,

Calls .tap_borrow_mut() only in debug builds, and is erased in release builds.
§

fn tap_ref_dbg<R>(self, func: impl FnOnce(&R)) -> Self
where Self: AsRef<R>, R: ?Sized,

Calls .tap_ref() only in debug builds, and is erased in release builds.
§

fn tap_ref_mut_dbg<R>(self, func: impl FnOnce(&mut R)) -> Self
where Self: AsMut<R>, R: ?Sized,

Calls .tap_ref_mut() only in debug builds, and is erased in release builds.
§

fn tap_deref_dbg<T>(self, func: impl FnOnce(&T)) -> Self
where Self: Deref<Target = T>, T: ?Sized,

Calls .tap_deref() only in debug builds, and is erased in release builds.
§

fn tap_deref_mut_dbg<T>(self, func: impl FnOnce(&mut T)) -> Self
where Self: DerefMut<Target = T> + Deref, T: ?Sized,

Calls .tap_deref_mut() only in debug builds, and is erased in release builds.
§

impl<T> TryConv for T

§

fn try_conv<T>(self) -> Result<T, Self::Error>
where Self: TryInto<T>,

Attempts to convert self into T using TryInto<T>. Read more
Source§

impl<T, U> TryFrom<U> for T
where U: Into<T>,

Source§

type Error = Infallible

The type returned in the event of a conversion error.
Source§

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
Source§

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

Source§

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
Source§

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.
Source§

impl<T> UnwrappedAs for T

Source§

fn unwrapped_as<Dst>(self) -> Dst
where T: UnwrappedCast<Dst>,

Casts the value.
Source§

impl<Src, Dst> UnwrappedCastFrom<Src> for Dst
where Src: UnwrappedCast<Dst>,

Source§

fn unwrapped_cast_from(src: Src) -> Dst

Casts the value.
§

impl<V, T> VZip<V> for T
where V: MultiLane<T>,

§

fn vzip(self) -> V

§

impl<T> WithSubscriber for T

§

fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>
where S: Into<Dispatch>,

Attaches the provided Subscriber to this type, returning a [WithDispatch] wrapper. Read more
§

fn with_current_subscriber(self) -> WithDispatch<Self>

Attaches the current default Subscriber to this type, returning a [WithDispatch] wrapper. Read more
Source§

impl<T> WrappingAs for T

Source§

fn wrapping_as<Dst>(self) -> Dst
where T: WrappingCast<Dst>,

Casts the value.
Source§

impl<Src, Dst> WrappingCastFrom<Src> for Dst
where Src: WrappingCast<Dst>,

Source§

fn wrapping_cast_from(src: Src) -> Dst

Casts the value.
§

impl<T> Allocation for T
where T: RefUnwindSafe + Send + Sync,

§

impl<T> ErasedDestructor for T
where T: 'static,

§

impl<T> MaybeSendSync for T