Struct TrajectoryMemory 

pub struct TrajectoryMemory { /* private fields */ }

Memory interface for trajectories used by the high level commander

Trajectories can be either uncompressed (using Poly4D segments) or compressed (using CompressedStart followed by CompressedSegments). Use write_uncompressed for Poly4D trajectories and write_compressed for compressed trajectories.

Implementations

impl TrajectoryMemory

pub async fn write_uncompressed( &self, segments: &[Poly4D], start_addr: usize, ) -> Result<usize>

Write an uncompressed trajectory (Poly4D segments) to the Crazyflie

Arguments

• segments - A slice of Poly4D trajectory segments
• start_addr - The address in trajectory memory to upload to (0 by default)

Returns

The number of bytes written

pub async fn write_uncompressed_with_progress<F>( &self, segments: &[Poly4D], start_addr: usize, progress_callback: F, ) -> Result<usize>

where F: FnMut(usize, usize),

Write an uncompressed trajectory with progress reporting

Arguments

• segments - A slice of Poly4D trajectory segments
• start_addr - The address in trajectory memory to upload to (0 by default)
• progress_callback - Called with (bytes_written, total_bytes)

Returns

The number of bytes written

pub async fn write_compressed( &self, start: &CompressedStart, segments: &[CompressedSegment], start_addr: usize, ) -> Result<usize>

Write a compressed trajectory to the Crazyflie

Compressed trajectories must start with a CompressedStart followed by zero or more CompressedSegments.

Arguments

• start - The starting point of the trajectory
• segments - A slice of compressed trajectory segments
• start_addr - The address in trajectory memory to upload to (0 by default)

Returns

The number of bytes written

pub async fn write_compressed_with_progress<F>( &self, start: &CompressedStart, segments: &[CompressedSegment], start_addr: usize, progress_callback: F, ) -> Result<usize>

where F: FnMut(usize, usize),

Write a compressed trajectory with progress reporting

Arguments

• start - The starting point of the trajectory
• segments - A slice of compressed trajectory segments
• start_addr - The address in trajectory memory to upload to (0 by default)
• progress_callback - Called with (bytes_written, total_bytes)

Returns

The number of bytes written

Trait Implementations

impl Debug for TrajectoryMemory

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl FromMemoryBackend for TrajectoryMemory

async fn from_memory_backend(memory: MemoryBackend) -> Result<Self>

Create a memory-specific type from a MemoryBackend. When created the memory is automatically read to populate the fields of the type.

async fn initialize_memory_backend(memory: MemoryBackend) -> Result<Self>

Get a specific memory by its ID and initialize it according to the defaults. Note that the values will not be written to the memory by default, the user needs to handle this.

fn close_memory(self) -> MemoryBackend

Close the memory and return the backend to the subsystem