pub struct TimeVaryingBacksteppingConfig {
pub base: BacksteppingConfig,
pub orbit_radius_scale: f64,
pub orbit_frequency: f64,
pub orbit_decay_rate: f64,
}Expand description
Configuration for the time-varying pose stabilizer.
Fields§
§base: BacksteppingConfigBase gains and integration settings shared with the hybrid controller.
orbit_radius_scale: f64Initial orbit radius as a multiple of the start-goal distance.
orbit_frequency: f64Angular speed of the virtual goal orbit [rad/s].
orbit_decay_rate: f64Exponential decay rate for the virtual goal orbit [1/s].
Trait Implementations§
Source§impl Clone for TimeVaryingBacksteppingConfig
impl Clone for TimeVaryingBacksteppingConfig
Source§fn clone(&self) -> TimeVaryingBacksteppingConfig
fn clone(&self) -> TimeVaryingBacksteppingConfig
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 TimeVaryingBacksteppingConfig
Auto Trait Implementations§
impl Freeze for TimeVaryingBacksteppingConfig
impl RefUnwindSafe for TimeVaryingBacksteppingConfig
impl Send for TimeVaryingBacksteppingConfig
impl Sync for TimeVaryingBacksteppingConfig
impl Unpin for TimeVaryingBacksteppingConfig
impl UnsafeUnpin for TimeVaryingBacksteppingConfig
impl UnwindSafe for TimeVaryingBacksteppingConfig
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
T: Clone,
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 more§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
§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 more§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).§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.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.