Struct EscState 

pub struct EscState {
    pub active: bool,
    pub yaw_error_threshold: f64,
    pub brake_torque: f64,
    pub yaw_error: f64,
}

Electronic stability control (ESC) state.

Fields

active: bool

Whether ESC is active this frame.

yaw_error_threshold: f64

Yaw rate error threshold (rad/s).

brake_torque: f64

Brake intervention torque (N·m per wheel).

yaw_error: f64

Last computed yaw rate error.

Implementations

impl EscState

pub fn new() -> Self

Create default ESC state.

pub fn update(&mut self, desired_yaw: f64, actual_yaw: f64)

Update ESC given desired and actual yaw rates.

Trait Implementations

impl Clone for EscState

fn clone(&self) -> EscState

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for EscState

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

Formats the value using the given formatter.

impl Default for EscState

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for EscState

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for EscState

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.