Struct ClosedLoopStep 

pub struct ClosedLoopStep<T> {
    pub plant: ClosedLoopPlant<T>,
    pub gains: ClosedLoopGains<T>,
}

One closed-loop regulation step with partial state measurement.

Fields

plant: ClosedLoopPlant<T>

gains: ClosedLoopGains<T>

Implementations

impl<T: NabledReal + LuProviderScalar> ClosedLoopStep<T>

pub fn design( plant: ClosedLoopPlant<T>, q_cost: &Array2<T>, r_cost: &Array2<T>, observer_poles: &[T], ) -> Result<Self, SimError>

Design LQR gain and Luenberger observer from cost matrices and observer poles.

pub fn step(&self, state: &mut ClosedLoopState<T>) -> Result<T, SimError>

Advance plant and observer by one step; returns control input u.

Trait Implementations

impl<T: Clone> Clone for ClosedLoopStep<T>

fn clone(&self) -> ClosedLoopStep<T>

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<T: Debug> Debug for ClosedLoopStep<T>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<T: PartialEq> PartialEq for ClosedLoopStep<T>

fn eq(&self, other: &ClosedLoopStep<T>) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<T> StructuralPartialEq for ClosedLoopStep<T>