Struct State 

pub struct State {
    pub position_x: f64,
    pub position_y: f64,
    pub position_z: f64,
    pub velocity_x: f64,
    pub velocity_y: f64,
    pub velocity_z: f64,
    pub roll: f64,
    pub pitch: f64,
    pub yaw: f64,
    pub roll_rate: f64,
    pub pitch_rate: f64,
    pub yaw_rate: f64,
}

Represents the complete state of a drone in 3D space.

This structure contains all the necessary state variables to describe a drone’s position, velocity, orientation (Euler angles), and angular velocities at any given moment in time.

Fields

• position_x, position_y, position_z - Position coordinates in the inertial frame (meters)
• velocity_x, velocity_y, velocity_z - Linear velocities in the inertial frame (m/s)
• roll, pitch, yaw - Euler angles representing orientation (radians)
• roll_rate, pitch_rate, yaw_rate - Angular velocities in the body frame (rad/s)

Fields

position_x: f64

position_y: f64

position_z: f64

velocity_x: f64

velocity_y: f64

velocity_z: f64

roll: f64

pitch: f64

yaw: f64

roll_rate: f64

pitch_rate: f64

yaw_rate: f64

Implementations

impl State

pub fn to_array(&self) -> [f64; 12]

Converts the state structure to a fixed-size array.

This method is useful for interfacing with numerical integration libraries that expect state vectors as arrays.

Returns

A 12-element array containing all state variables in the following order: [pos_x, pos_y, pos_z, vel_x, vel_y, vel_z, roll, pitch, yaw, roll_rate, pitch_rate, yaw_rate]

Example

let state = State::default(); let array = state.to_array(); assert_eq!(array.len(), 12);

pub fn from_array(arr: &[f64; 12]) -> Self

Creates a state structure from a fixed-size array.

This method reconstructs a State from an array representation, typically used after numerical integration to convert back from array format.

Arguments

• arr - A 12-element array containing state variables in the same order as to_array()

Returns

A new State instance with values from the input array

Example

let array = [1.0, 2.0, 3.0, 0.0, 0.0, 0.0, 0.1, 0.2, 0.3, 0.0, 0.0, 0.0]; let state = State::from_array(&array); assert_eq!(state.position_x, 1.0);

Trait Implementations

impl Clone for State

fn clone(&self) -> State

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for State

impl Debug for State

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

Formats the value using the given formatter.

impl Default for State

fn default() -> State

Returns the “default value” for a type.