libstp::motion::SplineMotion Class Reference

#include <spline_motion.hpp>

Inheritance diagram for libstp::motion::SplineMotion:

Collaboration diagram for libstp::motion::SplineMotion:

Public Member Functions
	SplineMotion (MotionContext ctx, SplineMotionConfig config)
void	start () override
void	update (double dt) override
bool	isFinished () const override
const std::vector< SplineMotionTelemetry > &	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 following a Catmull-Rom spline path.

Uses a trapezoidal velocity profile on arc-length for smooth acceleration/deceleration along the path. Heading either tracks the spline tangent (differential and omni) or is independently interpolated between per-waypoint values (omni only).

Definition at line 88 of file spline_motion.hpp.

Constructor & Destructor Documentation

SplineMotion()

libstp::motion::SplineMotion::SplineMotion	(	MotionContext	ctx,
		SplineMotionConfig	config )

Member Function Documentation

getTelemetry()

const std::vector< SplineMotionTelemetry > & libstp::motion::SplineMotion::getTelemetry ( ) const

inlinenodiscard

Definition at line 97 of file spline_motion.hpp.

isFinished()

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

nodiscardoverridevirtual

Return true once the primitive has met its completion criteria.

Implements libstp::motion::Motion.

start()

void libstp::motion::SplineMotion::start ( )

overridevirtual

Capture initial state and prepare controller internals.

Implements libstp::motion::Motion.

update()

void libstp::motion::SplineMotion::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/spline_motion.hpp