libstp::motion::TurnMotion Class Reference

#include <turn_motion.hpp>

Inheritance diagram for libstp::motion::TurnMotion:

Collaboration diagram for libstp::motion::TurnMotion:

Public Member Functions
	TurnMotion (MotionContext ctx, TurnConfig 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
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

Profiled PID turn controller.

Uses a TrapezoidalProfile to generate smooth angular setpoints, then PID tracks those setpoints with velocity feedforward. Supports asymmetric acceleration/deceleration rates.

Definition at line 30 of file turn_motion.hpp.

Constructor & Destructor Documentation

TurnMotion()

libstp::motion::TurnMotion::TurnMotion	(	MotionContext	ctx,
		TurnConfig	config )

Member Function Documentation

getFilteredVelocity()

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

inlinenodiscard

Current filtered angular velocity (rad/s).

Definition at line 56 of file turn_motion.hpp.

hasReachedAngle()

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

nodiscard

Check if target angle is reached, ignoring velocity settling.

isFinished()

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

nodiscardoverridevirtual

Return true once the primitive has met its completion criteria.

Implements libstp::motion::Motion.

setSuppressHardStopOnComplete()

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

inline

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

Definition at line 50 of file turn_motion.hpp.

start()

void libstp::motion::TurnMotion::start ( )

overridevirtual

Capture initial state and prepare controller internals.

Implements libstp::motion::Motion.

startWarm()

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

Begin turn from current state without resetting odometry.

Used by smooth_path() to carry angular velocity across segment boundaries.

Parameters

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

update()

void libstp::motion::TurnMotion::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/turn_motion.hpp