MtqMomentProfile
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Defined in: mtq_drive.rs:26
pub struct MtqMomentProfileThe rods over the span one command is held for: each rod’s drive goes from
its value at start_t towards the clamped command with time constant
τ, the cores’ remanence follows the drive, and the moment blends the two.
Within the span the drive moves monotonically towards the command, and a play operator driven monotonically ends where its last input puts it, so the remanence at any time is the remanence at the start driven once to the drive at that time. Evaluating is therefore a pure function of time, which an integrator may revisit at will.
Methods
Section titled “Methods”fn off(core: MtqAssemblyCore, start_t: f64) -> Self
Rods of core off, with no remanence, from start_t on.
core()
Section titled “core()”fn core(&self) -> &MtqAssemblyCore
The rods this profile is for.
start_t()
Section titled “start_t()”fn start_t(&self) -> f64
When the command was applied [s].
drive_at()
Section titled “drive_at()”fn drive_at(&self, t: f64) -> Vec<f64>
Each rod’s drive at time t [A·m²]: the start before start_t, the
command from it on for a rod with no time constant.
fn at(&self, t: f64) -> Vec<f64>
Each rod’s moment at time t [A·m²]: the drive blended with the
remanence (MtqAssemblyCore::rod_moments_with_remanence). On the
integrator’s hot path, so the remanence is evaluated from the borrowed
state, with no copy of it.