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Lissajous

braid_sim::scenario

Struct Lissajous 

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pub struct Lissajous {
    pub freq_hz: [f64; 3],
    pub phase: [f64; 3],
    pub fill: f64,
    pub maneuver_amp_m: f64,
    pub maneuver_freq_hz: f64,
}
Expand description

A smooth, bounded, deterministic 3D motion: a per-axis sinusoid (Lissajous figure) confined to a fraction of the arena half-extent.

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§freq_hz: [f64; 3]

Per-axis frequency, Hz.

§phase: [f64; 3]

Per-axis phase, radians.

§fill: f64

Fraction of the arena half-extent the motion spans (0..1).

§maneuver_amp_m: f64

Amplitude (meters) of an additional high-frequency “maneuver” overlay per axis. Small amplitude at high Self::maneuver_freq_hz produces large acceleration/jerk (sharp turns) without large displacement, modeling a maneuvering target (e.g. a flying insect). A constant-velocity EKF cannot predict this, so it produces nonzero innovations — needed to exercise the over-confident-gate fragmentation bug. Default 0 (smooth).

§maneuver_freq_hz: f64

Frequency (Hz) of the maneuver overlay. Default 0.

Trait Implementations§

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impl Clone for Lissajous

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fn clone(&self) -> Lissajous

Returns a duplicate of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for Lissajous

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

Formats the value using the given formatter. Read more
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impl Default for Lissajous

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fn default() -> Self

Returns the “default value” for a type. Read more
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impl<'de> Deserialize<'de> for Lissajous

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fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more
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impl PartialEq for Lissajous

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fn eq(&self, other: &Lissajous) -> bool

Tests for self and other values to be equal, and is used by ==.
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fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl Serialize for Lissajous

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fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>
where __S: Serializer,

Serialize this value into the given Serde serializer. Read more
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impl StructuralPartialEq for Lissajous

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where T: 'static + ?Sized,

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Gets the TypeId of self. Read more
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🔬This is a nightly-only experimental API. (clone_to_uninit)
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