Struct SimRobot 

pub struct SimRobot { /* private fields */ }

A simulated differential-drive robot: drive it with a Twist, read back its Pose.

This stands in for a real rover in a hardware-free test or demo. It is both an Actuator whose command is a body twist and a Sensor whose reading is the pose: each command advances the robot one time step at the commanded velocity, integrating the motion with the same exact-arc odometry a real robot would use, and a read returns where it has reached. A control loop can therefore be developed and tested end to end with no robot.

Examples

use pamoja_core::{Actuator, Sensor};
use pamoja_kit::Twist;
use pamoja_sim::SimRobot;

let mut robot = SimRobot::new(0.1); // 0.1 s per command
// Drive straight at 1 m/s for ten steps: about one metre forward.
for _ in 0..10 {
    robot.apply(Twist::planar(1.0, 0.0)).await?;
}
let pose = robot.read().await?;
assert!((pose.x - 1.0).abs() < 1e-5 && pose.y.abs() < 1e-5);

Implementations

impl SimRobot

pub fn new(dt: f32) -> Self

Creates a robot at the origin that advances dt seconds per command.

Arguments

• dt - the time each apply advances the robot; its magnitude is used.

Returns

The simulated robot.

pub fn starting_at(pose: Pose, dt: f32) -> Self

Creates a robot starting from a known pose.

Arguments

• pose - the starting pose.
• dt - the time each command advances the robot; its magnitude is used.

Returns

The simulated robot.

pub fn pose(&self) -> Pose

Returns the robot’s current pose.

Returns

The pose reached so far.

Trait Implementations

impl Actuator for SimRobot

type Command = Twist

The command accepted by a single application, for example a setpoint.

async fn apply(&mut self, command: Twist) -> Result<()>

Applies a command to the actuator.

impl Clone for SimRobot

fn clone(&self) -> SimRobot

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for SimRobot

impl Debug for SimRobot

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

Formats the value using the given formatter.

impl Sensor for SimRobot

type Reading = Pose

The value produced by a single read, for example a temperature or a fix.

async fn read(&mut self) -> Result<Pose>

Takes a single reading from the sensor.