Struct ControlSchedule 

pub struct ControlSchedule<const C: usize> { /* private fields */ }

A validated piecewise-constant control history.

controls[i] owns [boundaries[i], boundaries[i + 1]); the final boundary is included in the final segment. Boundaries are strictly increasing. Backward propagation traverses the same intervals in reverse, using the interval to the left of each encountered switching time.

Implementations

impl<const C: usize> ControlSchedule<C>

pub fn new(boundaries: Vec<f64>, controls: Vec<[f64; C]>) -> Result<Self>

Constructs and validates a zero-order-hold control schedule.

Errors

Returns an error unless there is at least one non-empty segment, boundaries.len() == controls.len() + 1, every value is finite, and the boundaries are strictly increasing.

pub fn boundaries(&self) -> &[f64]

Returns the switching boundaries.

pub fn controls(&self) -> &[[f64; C]]

Returns the controls in chronological segment order.

pub fn len(&self) -> usize

Returns the number of control segments.

pub fn is_empty(&self) -> bool

Returns whether the schedule contains no segments.

Valid schedules are never empty; this method is supplied alongside Self::len for collection-like APIs.

pub fn initial_time(&self) -> f64

Returns the first boundary.

pub fn final_time(&self) -> f64

Returns the final boundary.

pub fn control_at(&self, time: f64) -> Result<[f64; C]>

Returns the right-continuous control at a time inside the schedule.

At an internal switching time, the later segment owns the boundary. The final boundary returns the final segment’s control.

Errors

Returns an error for non-finite times or times outside the closed schedule interval.

Trait Implementations

impl<const C: usize> Clone for ControlSchedule<C>

fn clone(&self) -> ControlSchedule<C>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const C: usize> Debug for ControlSchedule<C>

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

Formats the value using the given formatter.

impl<const C: usize> PartialEq for ControlSchedule<C>

fn eq(&self, other: &ControlSchedule<C>) -> bool

Equality operator ==.

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

Inequality operator !=.

impl<const C: usize> StructuralPartialEq for ControlSchedule<C>