libstp::motion::LinearMotion Class Reference

#include <linear_motion.hpp>

Inheritance diagram for libstp::motion::LinearMotion:

Collaboration diagram for libstp::motion::LinearMotion:

Public Member Functions
	LinearMotion (MotionContext ctx, LinearMotionConfig config)
void	start () override
void	update (double dt) override
bool	isFinished () const override
void	startWarm (double position_offset_m, double initial_velocity_mps)
void	setSuppressHardStopOnComplete (bool suppress)
bool	hasReachedDistance () const
double	getFilteredVelocity () const
const std::vector< LinearMotionTelemetry > &	getTelemetry () const
void	setOmegaOverride (double omega)
void	clearOmegaOverride ()
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 straight-line controller for forward/backward or lateral motion.

The controller follows a trapezoidal profile on the selected primary axis while correcting heading error and cross-track drift.

Definition at line 89 of file linear_motion.hpp.

Constructor & Destructor Documentation

LinearMotion()

libstp::motion::LinearMotion::LinearMotion	(	MotionContext	ctx,
		LinearMotionConfig	config )

Member Function Documentation

clearOmegaOverride()

void libstp::motion::LinearMotion::clearOmegaOverride ( )

inline

Definition at line 125 of file linear_motion.hpp.

getFilteredVelocity()

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

inlinenodiscard

Current filtered velocity along the primary axis (m/s).

Definition at line 117 of file linear_motion.hpp.

getTelemetry()

const std::vector< LinearMotionTelemetry > & libstp::motion::LinearMotion::getTelemetry ( ) const

inlinenodiscard

Telemetry samples appended on each update cycle.

Definition at line 120 of file linear_motion.hpp.

hasReachedDistance()

bool libstp::motion::LinearMotion::hasReachedDistance ( ) const

nodiscard

Check if target distance is reached, ignoring velocity settling.

isFinished()

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

nodiscardoverridevirtual

Return true once the primitive has met its completion criteria.

Implements libstp::motion::Motion.

setOmegaOverride()

void libstp::motion::LinearMotion::setOmegaOverride ( double omega )

inline

Override the internal heading PID with an external omega value. Set each cycle before calling update(). Persists until cleared.

Definition at line 124 of file linear_motion.hpp.

setSuppressHardStopOnComplete()

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

inline

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

Definition at line 111 of file linear_motion.hpp.

start()

void libstp::motion::LinearMotion::start ( )

overridevirtual

Capture initial state and prepare controller internals.

Implements libstp::motion::Motion.

startWarm()

void libstp::motion::LinearMotion::startWarm	(	double	position_offset_m,
		double	initial_velocity_mps )

Begin motion from current state without resetting odometry.

Used by smooth_path() to carry velocity across segment boundaries. The profiled PID starts at position 0 with the given initial velocity, and odometry reads are offset so the segment measures from its start point.

Parameters

position_offset_m	Current primary-axis odometry position (subtracted from reads)
initial_velocity_mps	Current velocity to seed the profile with

update()

void libstp::motion::LinearMotion::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/linear_motion.hpp