libstp::motion::Motion Class Reference

#include <motion.hpp>

Inheritance diagram for libstp::motion::Motion:

Collaboration diagram for libstp::motion::Motion:

Public Member Functions
	Motion (MotionContext ctx)
virtual	~Motion ()=default
virtual void	start ()=0
virtual void	update (double dt)=0
virtual bool	isFinished () const =0

Protected Member Functions
drive::Drive &	drive ()
const drive::Drive &	drive () const
odometry::IOdometry &	odometry ()
const odometry::IOdometry &	odometry () const

Protected Attributes
MotionContext	ctx_
bool	started_ {false}

Detailed Description

Base interface for stateful motion primitives.

Concrete motions follow a simple lifecycle:

• start() captures initial state and primes the controller.
• update(dt) advances the controller by one loop iteration.
• isFinished() reports whether the goal has been reached.

Callers are responsible for invoking update(dt) at a stable cadence.

Definition at line 32 of file motion.hpp.

Constructor & Destructor Documentation

Motion()

libstp::motion::Motion::Motion ( MotionContext ctx )

inlineexplicit

Definition at line 35 of file motion.hpp.

~Motion()

virtual libstp::motion::Motion::~Motion ( )

virtualdefault

Member Function Documentation

drive() [1/2]

drive::Drive & libstp::motion::Motion::drive ( )

inlinenodiscardprotected

Definition at line 46 of file motion.hpp.

drive() [2/2]

const drive::Drive & libstp::motion::Motion::drive ( ) const

inlinenodiscardprotected

Definition at line 47 of file motion.hpp.

isFinished()

virtual bool libstp::motion::Motion::isFinished ( ) const

nodiscardpure virtual

Return true once the primitive has met its completion criteria.

Implemented in libstp::motion::ArcMotion, libstp::motion::DiagonalMotion, libstp::motion::DirectionalLineFollowMotion, libstp::motion::LinearMotion, libstp::motion::SplineMotion, and libstp::motion::TurnMotion.

odometry() [1/2]

odometry::IOdometry & libstp::motion::Motion::odometry ( )

inlinenodiscardprotected

Definition at line 48 of file motion.hpp.

odometry() [2/2]

const odometry::IOdometry & libstp::motion::Motion::odometry ( ) const

inlinenodiscardprotected

Definition at line 49 of file motion.hpp.

start()

virtual void libstp::motion::Motion::start ( )

pure virtual

Capture initial state and prepare controller internals.

Implemented in libstp::motion::ArcMotion, libstp::motion::DiagonalMotion, libstp::motion::DirectionalLineFollowMotion, libstp::motion::LinearMotion, libstp::motion::SplineMotion, and libstp::motion::TurnMotion.

update()

virtual void libstp::motion::Motion::update ( double dt )

pure virtual

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

Implemented in libstp::motion::ArcMotion, libstp::motion::DiagonalMotion, libstp::motion::DirectionalLineFollowMotion, libstp::motion::LinearMotion, libstp::motion::SplineMotion, and libstp::motion::TurnMotion.

Member Data Documentation

ctx_

MotionContext libstp::motion::Motion::ctx_

protected

Definition at line 51 of file motion.hpp.

started_

bool libstp::motion::Motion::started_ {false}

protected

Definition at line 52 of file motion.hpp.

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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/motion.hpp