pub struct NonHolonomicConstraintConfig {
pub lateral_velocity_sigma_mps: f64,
pub vertical_velocity_sigma_mps: f64,
pub min_speed_mps: f64,
pub max_body_rate_wrt_ecef_norm_rps: f64,
}Expand description
Non-holonomic wheeled-vehicle velocity constraint settings.
Fields§
§lateral_velocity_sigma_mps: f64One-sigma lateral body velocity pseudo-measurement noise in m/s.
vertical_velocity_sigma_mps: f64One-sigma vertical body velocity pseudo-measurement noise in m/s.
min_speed_mps: f64Minimum ECEF speed required before applying NHC.
max_body_rate_wrt_ecef_norm_rps: f64Maximum body angular-rate norm relative to ECEF.
Implementations§
Source§impl NonHolonomicConstraintConfig
impl NonHolonomicConstraintConfig
Sourcepub fn validate(&self) -> Result<(), FusionError>
pub fn validate(&self) -> Result<(), FusionError>
Validate sigmas and motion gates.
Trait Implementations§
Source§impl Clone for NonHolonomicConstraintConfig
impl Clone for NonHolonomicConstraintConfig
Source§fn clone(&self) -> NonHolonomicConstraintConfig
fn clone(&self) -> NonHolonomicConstraintConfig
Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source. Read moreimpl Copy for NonHolonomicConstraintConfig
Source§impl Debug for NonHolonomicConstraintConfig
impl Debug for NonHolonomicConstraintConfig
impl StructuralPartialEq for NonHolonomicConstraintConfig
Auto Trait Implementations§
impl Freeze for NonHolonomicConstraintConfig
impl RefUnwindSafe for NonHolonomicConstraintConfig
impl Send for NonHolonomicConstraintConfig
impl Sync for NonHolonomicConstraintConfig
impl Unpin for NonHolonomicConstraintConfig
impl UnsafeUnpin for NonHolonomicConstraintConfig
impl UnwindSafe for NonHolonomicConstraintConfig
Blanket Implementations§
Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
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Source§impl<T> IntoEither for T
impl<T> IntoEither for T
Source§fn into_either(self, into_left: bool) -> Either<Self, Self>
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 moreSource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
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 moreSource§impl<T> Pointable for T
impl<T> Pointable for T
impl<T> Scalar for T
Source§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
Source§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self from the equivalent element of its
superset. Read moreSource§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self is actually part of its subset T (and can be converted to it).Source§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset but without any property checks. Always succeeds.Source§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.