Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 12345]

Nlibstp
Nasync
CAsyncAlgorithm	Minimal coroutine wrapper that stores the last yielded value and supports manual stepping
Cpromise_type	Coroutine promise storing the most recent yielded or returned value
Nautotune
Ncontrol
CControlElement	Abstract base for every control element (P, I, D, PT1, ...)
CControlElementP	Proportional element: y = K * u. Port of ControlElementP.ts
CControlElementI	Integrator: y += dt * sum(u) / T. Port of ControlElementI.ts
CControlElementD	Differentiator: y = K * (u - u_prev) / dt. Port of ControlElementD.ts
CControlElementPT1	First-order lag. Port of ControlElementPT1.ts
CControlElementPT2	Second-order lag. Port of ControlElementPT2.ts
CControlElementPD1	Proportional-derivative (first order). Port of ControlElementPD1.ts
CControlElementPID
CControlElementDeadTime	Pure transport delay. Port of ControlElementDeadTime.ts
CControlLoop	Closed unity-feedback loop: controller in series with plant. Port of ControlLoop.ts
CControlPath	Series chain of control elements. Port of ControlPath.ts
CControlPathParamEstimation	Plant system identification via DE. Port of ControlPathParamEstimation.ts
CControlOptimizationError	Weighted step-response error for controller tuning. Port of ControlOptimizationError.ts
CControllerOptimizationDifferentialEvolution	PID-gain optimization via DE. Port of ControllerOptimizationDifferentialEvolution.ts
CIDifferentialEvolutionRating	Cost function to minimise. Port of IDifferentialEvolutionRating
CRng	Mulberry32 PRNG matching the JS golden-value harness exactly
CDifferentialEvolution	DE/rand/1/bin optimizer. Port of DifferentialEvolution.ts
CAutoTuneConfig	Aggregated configuration for the full auto-tune pipeline
CAutoTuneResult	Aggregated results of the auto-tune pipeline
CAutoTuner	Orchestrates the full auto-tune pipeline in a single C++ entry point so phase-to-phase state coherence is guaranteed
CBemfVelocityConfig	Configuration for BemfVelocityTuner
CBemfVelocityPoint	One measurement window at a single PWM level
CBemfMotorFit	Per-motor fit + linearity diagnostics across the speed sweep
CBemfVelocityResult	Full result of a BEMF→velocity calibration run
CBemfVelocityTuner	Calibrate per-motor ticks_to_rad (BEMF→rad) against the external calibration board, fully automatically
CDriveCharacterizer	Characterizes a robot's physical drive limits at raw motor power
CEncoderCalibrator	Calibrate per-motor ticks_to_rad using the IMU heading as ground truth
CFirmwarePidTuner	Tunes the per-motor firmware-side velocity PID (STM32 MAV mode)
CMotionTuner	Tunes motion PID gains (distance, lateral, heading) via Hooke-Jeeves coordinate descent
COdometrySnapshot
CStaticFrictionMeasurer	Per-motor static-friction (kS) measurement
CAxisResult	Measured physical limits for a single chassis axis
CCharacterizeConfig	Configuration for the DriveCharacterizer
CStepResponseData	Raw step-response recording for one velocity axis
CPlantParams	First-order-plus-dead-time (FOPDT) plant parameters extracted from a step-response recording
CVelocityTuneResult	Result of tuning a single velocity axis
CVelocityTuneConfig	Configuration for the VelocityTuner
CMotionTuneResult	Result of tuning a single motion PID parameter (distance, lateral, or heading)
CMotionTuneConfig	Configuration for the MotionTuner (Hooke-Jeeves coordinate descent)
CFirmwarePidConfig	Configuration for the FirmwarePidTuner
CFirmwarePidResult	Result of tuning a single motor's firmware-side velocity PID
CStaticFrictionConfig	Configuration for the StaticFrictionMeasurer
CStaticFrictionSample	One PWM-vs-BEMF sample taken during a static-friction sweep
CStaticFrictionResult	Per-motor static-friction measurement result (kS in PWM percent)
CVelLpfConfig	Configuration for the VelLpfTuner (encoder-velocity LPF alpha)
CVelLpfSweepPoint	One point of the alpha sweep: the score (and its parts) the candidate alpha achieved on the captured raw BEMF series
CVelLpfResult	Per-motor LPF-alpha tuning result
CToleranceConfig	Configuration for deriveTolerances()
CToleranceResult	Result of deriveTolerances(): the derived tolerances and flags indicating which UnifiedMotionPidConfig fields were updated
CEncoderCalConfig	Configuration for the EncoderCalibrator
CEncoderCalResult	Encoder calibration result
CVelLpfTuner	Tunes the per-motor encoder-velocity LPF alpha (MotorCalibration::vel_lpf_alpha)
CVelocityTuner	Tunes per-axis velocity PID gains via step-response identification
Nbutton
CButton
Ncalibration_store
CCalibrationStore	Process-wide YAML-backed storage for simple threshold calibrations
Ncam
CCamSensor
Nhal
Nimu
CTurnAxisConfig
CIIMU	Interface for IMU abstraction
CIMU
Nanalog
CAnalogSensor
Ndigital
CDigitalSensor
CButtonGroup
Nmotor
CIMotor	Interface for motor abstraction
CMotor
Nplatform
CComponentStatus	Per-component outcome of a probe call
CProbeResult
CProbeOptions
CProbeFailedError
CPlatform	Hardware-health entry point. Implemented per platform bundle
Nscreen_render
CScreenRender
Nservo
CServo
Ndrive
CAxisVelocityControlConfig
CChassisVelocityControlConfig
CDrive
CMotorAdapter
CVelocityController
Nfoundation
CChassisControlContext
CPidGains	Basic PID gains without integrator and output shaping parameters
CFeedforward	Feedforward terms for velocity and acceleration control
CMotorCalibration	Calibration constants commonly needed for motor encoder conversions
CFeedforwardController	Stateless calculator for the configured feedforward output
CPidConfig
CPidController	Stateful PID controller with integral clamping and a low-pass filtered derivative term
CSpeedModeContext
CPose	Position plus planar heading used by several motion-related modules
CChassisVelocity
CVelocityCommandGain
CMeters
CMetersPerSecond
CRadians
CRadiansPerSecond
Nodometry
CDistanceFromOrigin	Distance measurements from the origin (set by last reset)
CIOdometry
Nkinematics
Ndifferential
CDifferentialKinematics
Nmecanum
CMecanumKinematics
CMotorCommands
CIKinematics
CStmOdometryConfig
Nkmeans
CKMeansResult	Result of the current two-centroid 1D clustering pass
CKMeans	Fixed-iteration k-means for one-dimensional data with exactly two clusters
Nlocalization
CObservation	Sigma-weighted pose observation pushed by Resync-Steps
CSurfaceMeasurement
CLocalizationConfig
CLocalization	Thread-safe particle-filter localization service
CRecorderConfig
CLocalizationRecorder
CFrameInput
Nmap
CPoint2D
CSensorOffset
CWheelOffset
CMapSegment
CFtmapParseError
CMapLayer
CTransitionEdge	Edge geometry of a transition portal on one layer (cm, bottom-up frame)
CMapTransition
CWorldMap
Nmotion
CArcMotionConfig
CArcMotionTelemetry
CArcMotion
CCatmullRomSpline
CDiagonalMotionConfig
CDiagonalMotionTelemetry
CDiagonalMotion
CDirectionalLineFollowMotionConfig
CDirectionalLineFollowMotionTelemetry
CDirectionalLineFollowMotion
CLinearMotionConfig
CLinearMotionTelemetry
CLinearMotion
CMotionContext
CMotion
CAxisConstraints
CUnifiedMotionPidConfig
CProfiledPIDController
CConfig
CSplineMotionConfig
CSplineMotionTelemetry
CSplineMotion
CTrapezoidalProfile
CConstraints
CState
CTurnConfig
CTurnMotion
Nsensors
Net
CETSensor
Nir
CIRSensor
CIRSensorCalibration
Nsim
Ncollision
CCollisionInfo
CVec2
CPose2D
CSensorMount
CRobotConfig
CSimMotorMap
CSimWorld
COdometryDrift
Nthreading
Ncompat
Cstop_token
Cstop_source	Owner side of the stop signal. Setting it is sticky and atomic
Cjthread
CThreadManager
CDaemonHandle
CThreadPool
Ntransport_core
CSharedTransport
Nplatform
Nmock
Ncore
CMockPlatform
Nwombat
Ncore
CCommandTrace
CTransportReader
COdometrySnapshot	STM32-computed odometry state
CCalibOdometrySnapshot
CTransportWriter
Nraccoon
Nui
CScreenRender
CScreenRenderAnswer