libstp::motion::DiagonalMotion Class Reference

#include <diagonal_motion.hpp>

Inheritance diagram for libstp::motion::DiagonalMotion:

Collaboration diagram for libstp::motion::DiagonalMotion:

Public Member Functions
	DiagonalMotion (MotionContext ctx, DiagonalMotionConfig config)
void	start () override
void	update (double dt) override
bool	isFinished () const override
const std::vector< DiagonalMotionTelemetry > &	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 travel at an arbitrary body-frame angle.

This controller uses the same profile and saturation logic as LinearMotion, but resolves the commanded velocity into forward and lateral components derived from angle_rad.

Definition at line 79 of file diagonal_motion.hpp.

Constructor & Destructor Documentation

DiagonalMotion()

libstp::motion::DiagonalMotion::DiagonalMotion	(	MotionContext	ctx,
		DiagonalMotionConfig	config )

Member Function Documentation

getTelemetry()

const std::vector< DiagonalMotionTelemetry > & libstp::motion::DiagonalMotion::getTelemetry ( ) const

inlinenodiscard

Telemetry samples appended on each update cycle.

Definition at line 89 of file diagonal_motion.hpp.

isFinished()

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

nodiscardoverridevirtual

Return true once the primitive has met its completion criteria.

Implements libstp::motion::Motion.

start()

void libstp::motion::DiagonalMotion::start ( )

overridevirtual

Capture initial state and prepare controller internals.

Implements libstp::motion::Motion.

update()

void libstp::motion::DiagonalMotion::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/diagonal_motion.hpp