Struct SteeringLag 

pub struct SteeringLag<G> { /* private fields */ }

First-order actuator lag on the steering acceleration, as a stateful guidance decorator. The thrust axis passes through untouched; the steering vector relaxes toward the inner command with time constant tau_s using an exact discrete update current += (target - current)·(1 − exp(−dt/τ)). Save/restore Self::current alongside the flight state for replay.

Implementations

impl<G> SteeringLag<G>

pub fn new(inner: G, tau_s: f64) -> Result<Self>

tau_s is the actuator time constant in seconds and must be positive.

pub fn current(&self) -> Vec3

Current lagged steering vector (the state to snapshot).

pub fn set_current(&mut self, current: Vec3)

Restore a previously snapshotted steering vector.

Trait Implementations

impl<G: Clone> Clone for SteeringLag<G>

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<G: Copy> Copy for SteeringLag<G>

impl<G: Debug> Debug for SteeringLag<G>

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

Formats the value using the given formatter.

impl<G: Guidance> Guidance for SteeringLag<G>

fn command(&mut self, context: GuidanceContext<'_>) -> Result<ControlInput>

Produce a finite control command, or explain why control cannot be computed.