Struct embedded_flight_control::PositionController

source · [−]

pub struct PositionController {
    pub attitude_controller: AttitudeController,
    pub body_rate_controller: BodyRateController,
    pub yaw_controller: YawController,
    pub lateral_position: LateralPositionController,
    pub acceleration_ff: Vector2<f32>,
}

Fields

attitude_controller: AttitudeControllerbody_rate_controller: BodyRateControlleryaw_controller: YawControllerlateral_position: LateralPositionControlleracceleration_ff: Vector2<f32>

Implementations

impl PositionController

pub fn trajectory_control(
    &self,
    trajectory: Trajectory,
    local_position: Vector3<f32>,
    local_velocity: Vector3<f32>,
    attitude: Vector3<f32>,
    gyro: Vector3<f32>
) -> Moment

Calculate the desired roll, pitch, yaw, and thrust moment commands from a trajectory in Newtons*meters.

pub fn position_control(
    &self,
    local_position_cmd: Vector3<f32>,
    local_velocity_cmd: Vector3<f32>,
    local_position: Vector3<f32>,
    local_velocity: Vector3<f32>,
    attitude: Vector3<f32>,
    gyro: Vector3<f32>
) -> Moment

Calculate the desired roll, pitch, yaw, and thrust moment commands in Newtons*meters.

Trait Implementations

impl Default for PositionController

fn default() -> Self

Returns the “default value” for a type. Read more

Auto Trait Implementations

impl RefUnwindSafe for PositionController

impl Send for PositionController

impl Sync for PositionController

impl Unpin for PositionController

impl UnwindSafe for PositionController

Blanket Implementations

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

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

const: unstable · source

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

const: unstable · source

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

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impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

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

const: unstable · 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.

impl<T> Same<T> for T

type Output = T

Should always be Self

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

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

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

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U: Into<T>,

type Error = Infallible

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const: unstable · source

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U: TryFrom<T>,

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

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const: unstable · source

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

Performs the conversion.