Lead

openpilot::selfdrive::controls::radar_helpers

Struct Lead 

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pub struct Lead {
    pub d_rel: f64,
    pub y_rel: f64,
    pub v_rel: f64,
    pub a_rel: f64,
    pub v_lead: f64,
    pub a_lead: f64,
    pub d_path: f64,
    pub v_lat: f64,
    pub v_lead_k: f64,
    pub a_lead_k: f64,
    pub status: bool,
    pub fcw: bool,
}
Expand description

Represents a lead vehicle.

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§d_rel: f64

Relative longitudinal distance to the lead vehicle.

§y_rel: f64

Negative lateral distance to the lead vehicle.

§v_rel: f64

Relative speed to the lead vehicle.

§a_rel: f64

Relative acceleration to the lead vehicle.

§v_lead: f64

Lead vehicle speed.

§a_lead: f64

Lead vehicle acceleration.

§d_path: f64

Computed distance to the path.

§v_lat: f64

Filtered lateral velocity.

§v_lead_k: f64

Kalman filter predicted lead vehicle speed.

§a_lead_k: f64

Kalman filter predicted lead vehicle acceleration.

§status: bool

Status indicating the presence of a lead vehicle.

§fcw: bool

Forward Collision Warning (FCW) status.

Implementations§

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impl Lead

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pub fn new() -> Self

Creates a new Lead instance with default values.

§Returns

(Lead): A new Lead instance with default values.

§Examples
use openpilot::selfdrive::controls::radar_helpers::Lead;

let lead = Lead::new();
assert_eq!(lead.status, false);

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impl Debug for Lead

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

Formats the value using the given formatter. Read more
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impl Default for Lead

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fn default() -> Self

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

Auto Trait Implementations§

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impl Freeze for Lead

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impl RefUnwindSafe for Lead

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impl Send for Lead

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impl Sync for Lead

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impl Unpin for Lead

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impl UnwindSafe for Lead

Blanket Implementations§

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

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for T
where T: ?Sized,

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

Mutably borrows from an owned value. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
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impl<T, U> TryFrom<U> for T
where U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.