pub struct TimeVaryingBacksteppingController { /* private fields */ }Expand description
Time-varying pose stabilizer based on a shrinking virtual-goal orbit.
This controller keeps the target explicitly time-varying by asking the backstepping tracking law to follow a virtual goal that spirals into the desired pose. The construction is Samson-inspired, but remains an engineering approximation rather than a direct transcription of the chained coordinates feedback law.
Implementations§
Source§impl TimeVaryingBacksteppingController
impl TimeVaryingBacksteppingController
Sourcepub fn new(config: TimeVaryingBacksteppingConfig) -> Self
pub fn new(config: TimeVaryingBacksteppingConfig) -> Self
Creates a new time-varying stabilizer.
Sourcepub fn simulate(&self, start: Pose2D, goal: Pose2D) -> BacksteppingResult
pub fn simulate(&self, start: Pose2D, goal: Pose2D) -> BacksteppingResult
Simulates the controller from start to goal.
Auto Trait Implementations§
impl Freeze for TimeVaryingBacksteppingController
impl RefUnwindSafe for TimeVaryingBacksteppingController
impl Send for TimeVaryingBacksteppingController
impl Sync for TimeVaryingBacksteppingController
impl Unpin for TimeVaryingBacksteppingController
impl UnsafeUnpin for TimeVaryingBacksteppingController
impl UnwindSafe for TimeVaryingBacksteppingController
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