Struct embedded_flight::copter::Copter

source · [−]

pub struct Copter<S, M: MotorControl> {
    pub moment_of_inertia: Vector3<f32>,
    pub controller: Controller,
    pub motor_control: M,
    pub sensors: S,
}

Fields

moment_of_inertia: Vector3<f32>

The copter’s moment of inertia (in kg*m^2)

controller: Controller

The position controller

motor_control: M

The motor control to output commands.

sensors: S

The sensor measurement source.

Implementations

impl<S, M> Copter<S, M> where
S: Sensors,
M: MotorControl,

pub fn arm(&mut self)

Arm the copter’s motors.

pub fn control(&mut self, position: Vector3<f32>, velocity: Vector3<f32>)

Control the copter to move to a position in the local frame [north, east] (in m) with a desired velocity in the local frame [north_velocity, east_velocity] (in m/s).

Trait Implementations

impl<S: Clone, M: Clone + MotorControl> Clone for Copter<S, M>

fn clone(&self) -> Copter<S, M>

Returns a copy of the value. Read more

1.0.0 · source

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

impl<S: Debug, M: Debug + MotorControl> Debug for Copter<S, M>

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

Formats the value using the given formatter. Read more

impl<S: Default, M: Default + MotorControl> Default for Copter<S, M>

fn default() -> Copter<S, M>

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

Auto Trait Implementations

impl<S, M> RefUnwindSafe for Copter<S, M> where
M: RefUnwindSafe,
S: RefUnwindSafe,

impl<S, M> Send for Copter<S, M> where
M: Send,
S: Send,

impl<S, M> Sync for Copter<S, M> where
M: Sync,
S: Sync,

impl<S, M> Unpin for Copter<S, M> where
M: Unpin,
S: Unpin,

impl<S, M> UnwindSafe for Copter<S, M> where
M: UnwindSafe,
S: UnwindSafe,

Blanket Implementations

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

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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

const: unstable · source

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

Mutably borrows from an owned value. Read more

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>,

fn to_subset(&self) -> Option<SS>

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

fn is_in_subset(&self) -> bool

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

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T where
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

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

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,

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

The type returned in the event of a conversion error.

const: unstable · source

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

Performs the conversion.