42 lines
1.0 KiB
Rust
42 lines
1.0 KiB
Rust
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use rapier3d::prelude as rp;
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use std::any::Any;
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use crate::drone::MotorCharacteristics;
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pub trait DroneController {
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fn as_any(&self) -> &dyn Any;
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fn as_mut_any(&mut self) -> &mut dyn Any;
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fn set_position(&self, position: rp::Isometry<f32>);
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fn set_time(&self, time: f32);
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fn set_motor_characteristics(&self, motor_characteristics: &MotorCharacteristics);
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fn get_motor_speeds(&self) -> [f32; 4];
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}
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struct DefaultController {
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motor_speed: f32,
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}
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impl DefaultController {
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pub fn new(motor_speed: f32) -> DefaultController {
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return DefaultController { motor_speed };
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}
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}
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impl DroneController for DefaultController {
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fn set_position(&self, _position: rp::Isometry<f32>) {}
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fn set_time(&self, _time: f32) {}
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fn set_motor_characteristics(&self, _motor_characteristics: &MotorCharacteristics) {}
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fn get_motor_speeds(&self) -> [f32; 4] {
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return [self.motor_speed; 4];
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}
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fn as_any(&self) -> &dyn Any {
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self
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}
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fn as_mut_any(&mut self) -> &mut dyn Any {
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self
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}
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}
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