Enum BalancingCombine 

pub enum BalancingCombine {
    SumOfSquares,
    WeightedSum {
        w_force: f64,
        w_xi: f64,
    },
}

Channel-combination strategy for the dual balancing residual.

SumOfSquares is the default and most conservative: treats both channels as equally important and produces the Euclidean norm. WeightedSum allows the caller to bias one channel more — for example, weighting r_F higher during stance and r_ξ higher during swing.

Variants

SumOfSquares

sqrt(r_F² + r_ξ²) — Euclidean combination, equal weights.

WeightedSum

sqrt(w_F · r_F² + w_xi · r_ξ²) — weighted Euclidean.

Both weights must be non-negative. A zero weight suppresses the corresponding channel; typical values are w_F = 1.0, w_xi = 1.0 for parity with SumOfSquares.

Fields

w_force: f64

Weight on the contact-force residual channel r_F.

w_xi: f64

Weight on the centroidal-momentum residual channel r_ξ.

Trait Implementations

impl Clone for BalancingCombine

fn clone(&self) -> BalancingCombine

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for BalancingCombine

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

Formats the value using the given formatter.

impl PartialEq for BalancingCombine

fn eq(&self, other: &BalancingCombine) -> 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 Copy for BalancingCombine

impl StructuralPartialEq for BalancingCombine