Struct DsfbRoboticsEngine 

pub struct DsfbRoboticsEngine<const W: usize, const K: usize> { /* private fields */ }

Streaming DSFB engine.

All state is stack-allocated. No heap, no unsafe, no std.

Implementations

impl<const W: usize, const K: usize> DsfbRoboticsEngine<W, K>

pub const fn new(rho: f64) -> Self

Create an engine from an envelope radius, using the paper defaults for the boundary fraction and slew threshold.

pub const fn from_envelope(envelope: AdmissibilityEnvelope) -> Self

Create an engine from an explicit envelope.

pub fn set_envelope(&mut self, envelope: AdmissibilityEnvelope)

Replace the envelope (e.g. after online recalibration on a longer healthy window).

pub fn envelope(&self) -> AdmissibilityEnvelope

Inspect the current envelope.

pub fn observe_one( &mut self, norm: f64, below_floor: bool, context: RobotContext, index: usize, ) -> Episode

Observe a single residual norm and return the emitted episode.

• norm — ‖r(k)‖ from the upstream observer.
• below_floor — true if the sample is below the known noise floor (forces drift and slew to zero for this sample).
• context — current robot operating regime.
• index — sample index within the caller’s stream, passed through to Episode::index for traceability.

pub fn observe( &mut self, residuals: &[f64], out: &mut [Episode], context: RobotContext, ) -> usize

Stream residuals into a caller-owned output buffer out, emitting one episode per input sample.

Returns the number of episodes written. Never writes past out.len(): if residuals.len() > out.len() the function stops at capacity and returns out.len() (fail-closed, advisory-only semantics). Passing context applies uniformly to every sample in the call — callers that need to change context mid-stream should invoke Self::observe_one in a loop.

pub fn reset(&mut self)

Reset the streaming state (sign window + grammar hysteresis) without touching the envelope.

Use after a commissioning-to-operating transition to avoid pre-commissioning noise bleeding into the operating state.