Struct PD

pub struct PD<T> {
    pub p: P<T>,
    pub kd: T,
}

Fields

p: P<T>

kd: T

Implementations

impl<T> PD<T>

pub fn new(damping_ratio: T, time_constant: T) -> Self

where T: One + Add<Output = T> + Div<Output = T> + Copy,

pub fn control<U>( &self, target: U, target_dot: U, actual: U, actual_dot: U, ) -> U

where T: Mul<U, Output = U> + Sub<Output = T> + Clone, U: Add<Output = U> + Sub<Output = U>,

pub fn control_with_p<U>(&self, p: U, target_dot: U, actual_dot: U) -> U

where T: Mul<U, Output = U> + Clone, U: Add<Output = U> + Sub<Output = U>,

Trait Implementations

impl<T: Clone> Clone for PD<T>

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Debug> Debug for PD<T>

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

Formats the value using the given formatter.