libstp.robot.heading_reference
==============================

.. py:module:: libstp.robot.heading_reference


Classes
-------

.. autoapisummary::

   libstp.robot.heading_reference.HeadingReferenceService


Module Contents
---------------

.. py:class:: HeadingReferenceService(robot: libstp.robot.api.GenericRobot)

   Bases: :py:obj:`libstp.robot.service.RobotService`


   Stores an absolute IMU heading reference and computes turns relative to it.

   Use ``robot.get_service(HeadingReferenceService)`` to access.


   .. py:method:: mark() -> None

      Capture the current absolute IMU heading as the reference.



   .. py:property:: reference_deg
      :type: float | None


      The stored reference in degrees, or None if not set.


   .. py:method:: compute_turn(target_deg: float) -> float

      Compute the signed relative turn angle to reach *target_deg* from reference.

      :param target_deg: Desired heading in degrees relative to the reference.

      :returns: Signed angle in degrees (positive = CCW / left, negative = CW / right).
                Normalized to [-180, 180] for the shortest path.

      :raises RuntimeError: If no reference has been marked yet.