deimos_numerics 0.17.0

Numerical methods and control systems analysis
Documentation 
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use core::fmt;

/// Marker type for continuous-time state-space systems.
///
/// Continuous-time models interpret the state matrix through
/// `x' = A x + B u`.
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq)]
pub struct ContinuousTime;

/// Metadata carried by discrete-time state-space systems.
///
/// Discrete-time models interpret the same `A/B/C/D` block layout through
/// `x[k + 1] = A x[k] + B u[k]`, and therefore need a sample interval as part
/// of their domain metadata.
#[derive(Clone, Copy, Debug, PartialEq)]
pub struct DiscreteTime<R> {
    sample_time: R,
}

impl<R> DiscreteTime<R> {
    /// Creates discrete-time metadata with the given sample interval.
    #[must_use]
    pub fn new(sample_time: R) -> Self {
        Self { sample_time }
    }

    /// Sample interval used by the discrete-time model.
    #[must_use]
    pub fn sample_time(&self) -> R
    where
        R: Copy,
    {
        self.sample_time
    }
}

impl<R: fmt::Display> fmt::Display for DiscreteTime<R> {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        write!(f, "dt={}", self.sample_time)
    }
}