Struct PlannerManager

pub struct PlannerManager {
    pub current_planner: PlannerType,
}

Manages different trajectory planners and switches between them

Example

use nalgebra::Vector3;
use peng_quad::PlannerManager;
let initial_position = Vector3::new(0.0, 0.0, 1.0);
let initial_yaw = 0.0;
let planner_manager = PlannerManager::new(initial_position, initial_yaw);

Fields

current_planner: PlannerType

The current planner

Implementations

impl PlannerManager

Implementation of the PlannerManager

pub fn new(initial_position: Vector3<f32>, initial_yaw: f32) -> Self

Creates a new PlannerManager with an initial hover planner

Arguments

• initial_position - The initial position for hovering
• initial_yaw - The initial yaw angle for hovering

Returns

• A new PlannerManager instance

Example

use nalgebra::Vector3;
use peng_quad::PlannerManager;
let initial_position = Vector3::new(0.0, 0.0, 1.0);
let initial_yaw = 0.0;
let planner_manager = PlannerManager::new(initial_position, initial_yaw);

pub fn set_planner(&mut self, new_planner: PlannerType)

Sets a new planner

Arguments

• new_planner - The new planner to be set

Example

use nalgebra::Vector3;
use peng_quad::{PlannerManager, CirclePlanner, PlannerType};
let initial_position = Vector3::new(0.0, 0.0, 1.0);
let initial_yaw = 0.0;
let mut planner_manager = PlannerManager::new(initial_position, initial_yaw);
let new_planner = CirclePlanner {
    center: Vector3::new(0.0, 0.0, 1.0),
    radius: 1.0,
    angular_velocity: 1.0,
    start_yaw: 0.0,
    end_yaw: 0.0,
    start_time: 0.0,
    duration: 10.0,
    ramp_time: 1.0,
    start_position: Vector3::new(0.0, 0.0, 1.0),
};
planner_manager.set_planner(PlannerType::Circle(new_planner));

pub fn update( &mut self, current_position: Vector3<f32>, current_orientation: UnitQuaternion<f32>, current_velocity: Vector3<f32>, time: f32, obstacles: &[Obstacle], ) -> Result<(Vector3<f32>, Vector3<f32>, f32), SimulationError>

Updates the current planner and returns the desired position, velocity, and yaw

Arguments

• current_position - The current position of the quadrotor
• current_orientation - The current orientation of the quadrotor
• current_velocity - The current velocity of the quadrotor
• time - The current simulation time

Returns

• A tuple containing the desired position, velocity, and yaw angle

Errors

• Returns a SimulationError if the current planner is not finished

Example

use nalgebra::{Vector3, UnitQuaternion};
use peng_quad::{PlannerManager, SimulationError};
let initial_position = Vector3::new(0.0, 0.0, 1.0);
let initial_yaw = 0.0;
let mut planner_manager = PlannerManager::new(initial_position, initial_yaw);
let current_position = Vector3::new(0.0, 0.0, 1.0);
let current_orientation = UnitQuaternion::from_euler_angles(0.0, 0.0, 0.0);
let current_velocity = Vector3::new(0.0, 0.0, 0.0);
let obstacles = vec![];
let time = 0.0;
let result = planner_manager.update(current_position, current_orientation, current_velocity, time, &obstacles);
match result {
    Ok((target_position, target_velocity, target_yaw)) => {
        println!("Target Position: {:?}", target_position);
        println!("Target Velocity: {:?}", target_velocity);
        println!("Target Yaw: {:?}", target_yaw);
    }
    Err(SimulationError) => {
        log::error!("Error: Planner is not finished");
    }
}