From 9227a4442171d01ef96738456f87577f4ad30116 Mon Sep 17 00:00:00 2001 From: Yang Zhou Date: Sat, 15 Feb 2025 06:14:54 -0500 Subject: [PATCH] [DOCS] fix doc coverage of QPpolyTrajPlanner field --- src/lib.rs | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/lib.rs b/src/lib.rs index 08400bbb..9afd1176 100644 --- a/src/lib.rs +++ b/src/lib.rs @@ -1726,25 +1726,25 @@ impl Planner for MinimumSnapWaypointPlanner { /// let mut qp_planner = QPpolyTrajPlanner::new(waypoints,segment_times,polyorder, min_deriv, smooth_upto,max_velocity,max_acceleration, start_time, dt); /// ``` pub struct QPpolyTrajPlanner { - // Matrix of coefficients for each segment and each dimension, organized as nrows: polyorder*segment_times.len(), ncols: 4 (for x, y, z, yaw) + /// Matrix of coefficients for each segment and each dimension, organized as nrows: polyorder*segment_times.len(), ncols: 4 (for x, y, z, yaw) pub coeff: DMatrix, - // Order of the polynomial to be used in computing trajectory + /// Order of the polynomial to be used in computing trajectory pub polyorder: usize, - // Minimize which derivative in the QP problem (1->Velocity, 2->Acceleration, 3->Snap, 4->Jerk. Please note that derivative value greater than 4 is not supported) + /// Minimize which derivative in the QP problem (1->Velocity, 2->Acceleration, 3->Snap, 4->Jerk. Please note that derivative value greater than 4 is not supported) pub min_deriv: usize, - // Ensure continuity upto which derivative. NOTE: This MUST be <= polynomial_order (1->Velocity, 2->Acceleration, 3->Snap, 4->Jerk. Please note that derivative value greater than 4 is not supported) + /// Ensure continuity upto which derivative. NOTE: This MUST be <= polynomial_order (1->Velocity, 2->Acceleration, 3->Snap, 4->Jerk. Please note that derivative value greater than 4 is not supported) pub smooth_upto: usize, - // Vector of time values for each segment, which tells the planner how much time each segment should take to complete. Expressed in seconds. + /// Vector of time values for each segment, which tells the planner how much time each segment should take to complete. Expressed in seconds. pub segment_times: Vec, - // Waypoints for each segment. Note that there should be segment_times.len() + 1 values for waypoints, with the position of the quadrotor being the very first waypoint. + /// Waypoints for each segment. Note that there should be segment_times.len() + 1 values for waypoints, with the position of the quadrotor being the very first waypoint. pub waypoints: Vec>, - // Maximum velocity constraint. Set to 0.0 to disregard inequality constraints. Please set reasonable values for this as it influences solver convergence or failure. + /// Maximum velocity constraint. Set to 0.0 to disregard inequality constraints. Please set reasonable values for this as it influences solver convergence or failure. pub max_velocity: f32, - // Maximum acceleration constraint. Set to 0.0 to disregard inequality constraints. Please set reasonable values for this as it influences solver convergence or failure. + /// Maximum acceleration constraint. Set to 0.0 to disregard inequality constraints. Please set reasonable values for this as it influences solver convergence or failure. pub max_acceleration: f32, - // Time at which the simulation starts. This value has no bearing to QPpolyTraj itself, but is used during simulation since we use relative time internally when computing values. + /// Time at which the simulation starts. This value has no bearing to QPpolyTraj itself, but is used during simulation since we use relative time internally when computing values. pub start_time: f32, - // Step time used while generating inequality constraints. Has no bearing if max_velocity or max_acceleration is set to 0.0. Please set reasonable value for this as it has a huge impact on OSQP solve time. + /// Step time used while generating inequality constraints. Has no bearing if max_velocity or max_acceleration is set to 0.0. Please set reasonable value for this as it has a huge impact on OSQP solve time. pub dt: f32, }