libstp::foundation Namespace Reference

Namespaces
namespace	literals

Classes
class	ChassisControlContext
struct	PidGains
	Basic PID gains without integrator and output shaping parameters. More...
struct	Feedforward
	Feedforward terms for velocity and acceleration control. More...
struct	MotorCalibration
	Calibration constants commonly needed for motor encoder conversions. More...
class	FeedforwardController
	Stateless calculator for the configured feedforward output. More...
struct	PidConfig
class	PidController
	Stateful PID controller with integral clamping and a low-pass filtered derivative term. More...
class	SpeedModeContext
struct	Pose
	Position plus planar heading used by several motion-related modules. More...
struct	ChassisVelocity
struct	VelocityCommandGain
struct	Meters
struct	MetersPerSecond
struct	Radians
struct	RadiansPerSecond

Typedefs
using	ChassisVelocitySink = bool (*)(double vx, double vy, double wz)
using	Vector3f = Eigen::Vector3f

Variables
constexpr double	kDefaultEncoderTicksPerRev = 1440.0

Typedef Documentation

ChassisVelocitySink

using libstp::foundation::ChassisVelocitySink = bool (*)(double vx, double vy, double wz)

Sink for a body-frame chassis velocity command [vx (m/s), vy (m/s), wz (rad/s)]. Returns true if the command was handled by an on-board (coprocessor) chassis loop, false otherwise. Must be a non-capturing function (stored as a plain pointer so it can live in a lock-free atomic).

Definition at line 11 of file chassis_control_context.hpp.

Vector3f

using libstp::foundation::Vector3f = Eigen::Vector3f

Definition at line 9 of file types.hpp.

Variable Documentation

kDefaultEncoderTicksPerRev

double libstp::foundation::kDefaultEncoderTicksPerRev = 1440.0

inlineconstexpr

Default encoder ticks per output-shaft revolution. Matches the KIPR Wombat motor encoder; override per-robot via MotorCalibration::ticks_to_rad if your hardware differs.

Definition at line 14 of file motor.hpp.