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12 lines
372 B
12 lines
372 B
4 years ago
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#pragma once
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/*
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common controller helper functions
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*/
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// Proportional controller with piecewise sqrt sections to constrain second derivative
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float sqrt_controller(float error, float p, float second_ord_lim, float dt);
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// limit vector to a given length, returns true if vector was limited
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bool limit_vector_length(float &vector_x, float &vector_y, float max_length);
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