Struct RamseteReference 

pub struct RamseteReference {
    pub pose: Pose,
    pub linear_velocity: f64,
    pub angular_velocity: f64,
}

A trajectory reference point for RAMSETE tracking.

Contains the desired pose and velocities at a point along the trajectory. This is what the RAMSETE controller tries to track.

Fields

pose: Pose

Desired pose at this trajectory point.

linear_velocity: f64

Desired linear velocity in meters per second.

angular_velocity: f64

Desired angular velocity in radians per second.

Implementations

impl RamseteReference

pub fn new(pose: Pose, linear_velocity: f64, angular_velocity: f64) -> Self

Creates a new RAMSETE reference point.

Arguments

• pose - Desired pose (position and heading)
• linear_velocity - Desired forward velocity in m/s
• angular_velocity - Desired rotational velocity in rad/s

Trait Implementations

impl Clone for RamseteReference

fn clone(&self) -> RamseteReference

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RamseteReference

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

Formats the value using the given formatter.

impl From<TrajectoryPoint> for RamseteReference

fn from(point: TrajectoryPoint) -> Self

Converts a trajectory point to a RAMSETE reference.

impl Copy for RamseteReference