Trait Planner

Source

pub trait Planner {
    // Required methods
    fn plan(
        &self,
        current_position: Vector3<f32>,
        current_velocity: Vector3<f32>,
        time: f32,
    ) -> (Vector3<f32>, Vector3<f32>, f32);
    fn is_finished(
        &self,
        current_position: Vector3<f32>,
        time: f32,
    ) -> Result<bool, SimulationError>;
}

Expand description

Trait defining the interface for trajectory planners

§Example

use nalgebra::Vector3;
use peng_quad::{Planner, SimulationError};
struct TestPlanner;
impl Planner for TestPlanner {
   fn plan(
        &self,
        current_position: Vector3<f32>,
        current_velocity: Vector3<f32>,
        time: f32,
) -> (Vector3<f32>, Vector3<f32>, f32) {
        (Vector3::new(0.0, 0.0, 0.0), Vector3::new(0.0, 0.0, 0.0), 0.0)
    }
    fn is_finished(
        &self,
        current_position: Vector3<f32>,
        time: f32,
    ) -> Result<bool, SimulationError> {
        Ok(true)
    }
}

Required Methods§

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

§Arguments

current_position - The current position 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

§Example

use nalgebra::Vector3;
use peng_quad::{Planner, SimulationError};
struct TestPlanner;
impl Planner for TestPlanner {
    fn plan(
        &self,
        current_position: Vector3<f32>,
        current_velocity: Vector3<f32>,
        time: f32,
) -> (Vector3<f32>, Vector3<f32>, f32) {
        (Vector3::new(0.0, 0.0, 0.0), Vector3::new(0.0, 0.0, 0.0), 0.0)
    }
    fn is_finished(
        &self,
        current_position: Vector3<f32>,
        time: f32,
    ) -> Result<bool, SimulationError> {
        Ok(true)
    }
}

Source

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

Checks if the current trajectory is finished

§Arguments

current_position - The current position of the quadrotor
time - The current simulation time

§Returns

true if the trajectory is finished, false otherwise

§Example

use nalgebra::Vector3;
use peng_quad::{Planner, SimulationError};
struct TestPlanner;
impl Planner for TestPlanner {
    fn plan(
        &self,
        current_position: Vector3<f32>,
        current_velocity: Vector3<f32>,
        time: f32,
) -> (Vector3<f32>, Vector3<f32>, f32) {
        (Vector3::new(0.0, 0.0, 0.0), Vector3::new(0.0, 0.0, 0.0), 0.0)
    }
    fn is_finished(
        &self,
        current_position: Vector3<f32>,
        time: f32,
    ) -> Result<bool, SimulationError> {
        Ok(true)
    }
}