libstp::autotune::MotionTuner Class Reference

Tunes motion PID gains (distance, lateral, heading) via Hooke-Jeeves coordinate descent. More...

#include <motion_tune.hpp>

Public Member Functions
	MotionTuner (drive::Drive &drive, odometry::IOdometry &odometry, motion::UnifiedMotionPidConfig &pid_config)
std::map< std::string, MotionTuneResult >	tune (const std::vector< std::string > &params, const MotionTuneConfig &cfg) const
	Tune multiple parameters in sequence.
MotionTuneResult	tuneParam (const std::string &param_name, const MotionTuneConfig &cfg) const
	Tune a single motion PID parameter.
void	requestPauseAfterTrial () const noexcept
	Queue a pause that takes effect after the current trial completes.
void	resume () const noexcept
	Cancel a queued pause or resume from an active pause.
std::string	pauseState () const
	Current operator-control state: "running", "stop_queued", or "stopped".

Detailed Description

Tunes motion PID gains (distance, lateral, heading) via Hooke-Jeeves coordinate descent.

For each parameter the tuner:

1. Runs a real closed-loop motion trial and scores the result by combining settle time, overshoot, and final error.
2. Iteratively perturbs kp and kd, keeping improvements, shrinking step size on no-improvement until deltas drop below the minimum threshold.

The UnifiedMotionPidConfig referenced on construction is mutated in-place during every trial (the gains are written directly before each motion is created) and, after tuning, retains the best-found gains. Callers should persist the config themselves after tune() returns.

Note

MotionTuner holds non-owning references to Drive, IOdometry, and UnifiedMotionPidConfig. All three objects must outlive the tuner.

Definition at line 37 of file motion_tune.hpp.

Constructor & Destructor Documentation

MotionTuner()

libstp::autotune::MotionTuner::MotionTuner	(	drive::Drive &	drive,
		odometry::IOdometry &	odometry,
		motion::UnifiedMotionPidConfig &	pid_config )

Parameters

drive	Chassis drive controller (reference, not owned).
odometry	Odometry source (reference, not owned).
pid_config	Motion PID config to tune in place (reference, not owned).

Member Function Documentation

pauseState()

std::string libstp::autotune::MotionTuner::pauseState ( ) const

nodiscard

Current operator-control state: "running", "stop_queued", or "stopped".

requestPauseAfterTrial()

void libstp::autotune::MotionTuner::requestPauseAfterTrial ( ) const

noexcept

Queue a pause that takes effect after the current trial completes.

resume()

void libstp::autotune::MotionTuner::resume ( ) const

noexcept

Cancel a queued pause or resume from an active pause.

tune()

std::map< std::string, MotionTuneResult > libstp::autotune::MotionTuner::tune ( const std::vector< std::string > & params, const MotionTuneConfig & cfg ) const

nodiscard

Tune multiple parameters in sequence.

Valid param names are "distance", "lateral", and "heading". The pid_config is updated with the best-found gains for each parameter.

Parameters

params	List of parameter names to tune.
cfg	Tuning configuration.

Returns

Map from parameter name to MotionTuneResult.

tuneParam()

MotionTuneResult libstp::autotune::MotionTuner::tuneParam ( const std::string & param_name, const MotionTuneConfig & cfg ) const

nodiscard

Tune a single motion PID parameter.

Parameters

param_name	One of "distance", "lateral", or "heading".
cfg	Tuning configuration.

Returns

MotionTuneResult with initial/final gains and scores.

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The documentation for this class was generated from the following file:

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-autotune/include/autotune/motion_tune.hpp