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11 lines
372 B
11 lines
372 B
#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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