libstp::motion::ArcMotion Class Reference

#include <arc_motion.hpp>

Inheritance diagram for libstp::motion::ArcMotion:

Collaboration diagram for libstp::motion::ArcMotion:

Public Member Functions
	ArcMotion (MotionContext ctx, ArcMotionConfig config)
void	start () override
void	update (double dt) override
bool	isFinished () const override
void	startWarm (double heading_offset_rad, double initial_angular_velocity)
void	setSuppressHardStopOnComplete (bool suppress)
bool	hasReachedAngle () const
double	getFilteredVelocity () const
const std::vector< ArcMotionTelemetry > &	getTelemetry () const
Public Member Functions inherited from libstp::motion::Motion
	Motion (MotionContext ctx)
virtual	~Motion ()=default

Additional Inherited Members
Protected Member Functions inherited from libstp::motion::Motion
drive::Drive &	drive ()
const drive::Drive &	drive () const
odometry::IOdometry &	odometry ()
const odometry::IOdometry &	odometry () const
Protected Attributes inherited from libstp::motion::Motion
MotionContext	ctx_
bool	started_ {false}

Detailed Description

Closed-loop controller for driving along a circular arc.

Uses a profiled PID on heading (like TurnMotion) and derives the forward velocity from the angular velocity command: vx = |omega| * radius. This produces coordinated acceleration/deceleration along the arc.

The max angular velocity is limited to ensure the derived forward velocity does not exceed the linear axis limits.

Definition at line 74 of file arc_motion.hpp.

Constructor & Destructor Documentation

ArcMotion()

libstp::motion::ArcMotion::ArcMotion	(	MotionContext	ctx,
		ArcMotionConfig	config )

Member Function Documentation

getFilteredVelocity()

double libstp::motion::ArcMotion::getFilteredVelocity ( ) const

inlinenodiscard

Current filtered angular velocity (rad/s).

Definition at line 98 of file arc_motion.hpp.

getTelemetry()

const std::vector< ArcMotionTelemetry > & libstp::motion::ArcMotion::getTelemetry ( ) const

inlinenodiscard

Definition at line 100 of file arc_motion.hpp.

hasReachedAngle()

bool libstp::motion::ArcMotion::hasReachedAngle ( ) const

nodiscard

Check if target arc angle is reached, ignoring velocity settling.

isFinished()

bool libstp::motion::ArcMotion::isFinished ( ) const

nodiscardoverridevirtual

Return true once the primitive has met its completion criteria.

Implements libstp::motion::Motion.

setSuppressHardStopOnComplete()

void libstp::motion::ArcMotion::setSuppressHardStopOnComplete ( bool suppress )

inline

When true, complete() sets finished_ without calling hardStop().

Definition at line 92 of file arc_motion.hpp.

start()

void libstp::motion::ArcMotion::start ( )

overridevirtual

Capture initial state and prepare controller internals.

Implements libstp::motion::Motion.

startWarm()

void libstp::motion::ArcMotion::startWarm	(	double	heading_offset_rad,
		double	initial_angular_velocity )

Begin arc from current state without resetting odometry.

Parameters

heading_offset_rad	Current heading (subtracted from reads)
initial_angular_velocity	Current angular velocity to seed the profile with

update()

void libstp::motion::ArcMotion::update ( double dt )

overridevirtual

Advance the controller by one iteration using the loop delta in seconds.

Implements libstp::motion::Motion.

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

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-motion/include/motion/arc_motion.hpp