peng_quad/
config.rs

1//! Configuration module
2//!
3//! This module contains the configuration for the simulation, quadrotor, PID controller, IMU, maze, camera, mesh, and planner schedule.
4//! The configuration is loaded from a YAML file using the serde library.
5//! The configuration is then used to initialize the simulation, quadrotor, PID controller, IMU, maze, camera, mesh, and planner schedule.
6#[derive(serde::Deserialize)]
7/// Configuration for the simulation
8pub struct Config {
9    /// Simulation configuration
10    pub simulation: SimulationConfig,
11    /// Quadrotor configuration
12    pub quadrotor: QuadrotorConfig,
13    /// PID Controller configuration
14    pub pid_controller: PIDControllerConfig,
15    /// IMU configuration
16    pub imu: ImuConfig,
17    /// Maze configuration
18    pub maze: MazeConfig,
19    /// Camera configuration
20    pub camera: CameraConfig,
21    /// Mesh configuration
22    pub mesh: MeshConfig,
23    /// Planner schedule configuration
24    pub planner_schedule: Vec<PlannerStep>,
25    /// Rerun blueprint path
26    pub rerun_blueprint: String,
27    /// Maximum number of threads for rendering
28    pub max_render_threads: Option<usize>,
29    /// Use rerun.io for recording
30    pub use_rerun: bool,
31    /// Render depth
32    pub render_depth: bool,
33    /// MultiThreading depth rendering
34    pub use_multithreading_depth_rendering: bool,
35    /// Use RK4 for updating quadrotor dynamics_with_controls
36    pub use_rk4_for_dynamics_control: bool,
37    /// Use RK4 for updating quadrotor dynamics without controls
38    pub use_rk4_for_dynamics_update: bool,
39}
40
41#[derive(serde::Deserialize)]
42/// Configuration for a planner step
43pub struct PlannerStep {
44    /// Step number that the planner should be executed (Unit: ms)
45    pub step: usize,
46    /// Type of planner to use
47    pub planner_type: String,
48    /// Parameters for the planner
49    pub params: serde_yaml::Value,
50}
51
52#[derive(serde::Deserialize)]
53/// Configuration for the simulation
54pub struct SimulationConfig {
55    /// Control frequency in Hz
56    pub control_frequency: usize,
57    /// Simulation frequency in Hz
58    pub simulation_frequency: usize,
59    /// Log frequency in Hz
60    pub log_frequency: usize,
61    /// Duration of the simulation in seconds
62    pub duration: f32,
63}
64
65#[derive(serde::Deserialize)]
66/// Configuration for the quadrotor
67pub struct QuadrotorConfig {
68    /// Mass of the quadrotor in kg
69    pub mass: f32,
70    /// Gravity in m/s^2
71    pub gravity: f32,
72    /// Drag coefficient in Ns^2/m^2
73    pub drag_coefficient: f32,
74    /// Inertia matrix in kg*m^2
75    pub inertia_matrix: [f32; 9],
76}
77
78#[derive(serde::Deserialize)]
79/// Configuration for the PID controller
80pub struct PIDControllerConfig {
81    /// Position gains
82    pub pos_gains: PIDGains,
83    /// Attitude gains
84    pub att_gains: PIDGains,
85    /// Maximum integral error for position control
86    pub pos_max_int: [f32; 3],
87    /// Maximum integral error for attitude control
88    pub att_max_int: [f32; 3],
89}
90
91#[derive(serde::Deserialize)]
92/// Configuration for PID gains
93pub struct PIDGains {
94    /// Proportional gains
95    pub kp: [f32; 3],
96    /// Integral gains
97    pub ki: [f32; 3],
98    /// Derivative gains
99    pub kd: [f32; 3],
100}
101
102#[derive(serde::Deserialize, Default)]
103/// Configuration for the IMU
104pub struct ImuConfig {
105    /// Accelerometer noise standard deviation
106    pub accel_noise_std: f32,
107    /// Gyroscope noise standard deviation
108    pub gyro_noise_std: f32,
109    /// Accelerometer bias drift standard deviation
110    pub accel_bias_std: f32,
111    /// Gyroscope bias drift standard deviation
112    pub gyro_bias_std: f32,
113}
114
115#[derive(serde::Deserialize)]
116/// Configuration for the maze
117pub struct MazeConfig {
118    /// Upper bounds of the maze in meters (x, y, z)
119    pub upper_bounds: [f32; 3],
120    /// Lower bounds of the maze in meters (x, y, z)
121    pub lower_bounds: [f32; 3],
122    /// Number of obstacles in the maze
123    pub num_obstacles: usize,
124    /// Obstacle velocity maximum bounds in m/s in (x, y, z) directions
125    pub obstacles_velocity_bounds: [f32; 3],
126    /// Obstacle radius bounds in meters (min, max)
127    pub obstacles_radius_bounds: [f32; 2],
128}
129
130#[derive(serde::Deserialize)]
131/// Configuration for the camera
132pub struct CameraConfig {
133    /// Camera resolution in pixels (width, height)
134    pub resolution: (usize, usize),
135    /// Camera field of view in height in degrees
136    pub fov_vertical: f32,
137    /// Camera near clipping plane in meters
138    pub near: f32,
139    /// Camera far clipping plane in meters
140    pub far: f32,
141    /// Camera transform matrix for depth
142    pub rotation_transform: [f32; 9],
143}
144
145#[derive(serde::Deserialize)]
146/// Configuration for the mesh
147pub struct MeshConfig {
148    /// Division of the 2D mesh, the mesh will be division x division squares
149    pub division: usize,
150    /// Spacing between the squares in meters
151    pub spacing: f32,
152}
153/// Implementation of the Config struct
154impl Config {
155    /// Load configuration from a YAML file.
156    /// # Arguments
157    /// * `filename` - The name of the file to load.
158    /// # Returns
159    /// * The configuration object.
160    /// # Errors
161    /// * If the file cannot be read or the YAML cannot be parsed.
162    pub fn from_yaml(filename: &str) -> Result<Self, Box<dyn std::error::Error>> {
163        let contents = std::fs::read_to_string(filename)?;
164        Ok(serde_yaml::from_str(&contents)?)
165    }
166}
peng_quad/config.rs

peng_quad/
config.rs
