libstp::motion Namespace Reference

Classes
struct	ArcMotionConfig
struct	ArcMotionTelemetry
class	ArcMotion
class	CatmullRomSpline
struct	DiagonalMotionConfig
struct	DiagonalMotionTelemetry
class	DiagonalMotion
struct	DirectionalLineFollowMotionConfig
struct	DirectionalLineFollowMotionTelemetry
class	DirectionalLineFollowMotion
struct	LinearMotionConfig
struct	LinearMotionTelemetry
class	LinearMotion
struct	MotionContext
class	Motion
struct	AxisConstraints
struct	UnifiedMotionPidConfig
class	ProfiledPIDController
struct	SplineMotionConfig
struct	SplineMotionTelemetry
class	SplineMotion
class	TrapezoidalProfile
struct	TurnConfig
class	TurnMotion

Enumerations
enum class	LineFollowCorrectionMode { Angular , Lateral , Forward }
enum class	LinearAxis { Forward , Lateral }
enum class	PidType { Distance , Heading }

Functions
UnifiedMotionPidConfig	defaultUnifiedMotionPidConfig ()
std::unique_ptr< foundation::PidController >	createPidController (const UnifiedMotionPidConfig &unified_config, PidType type)

Variables
constexpr double	kMotionEpsilon = 1e-6

Enumeration Type Documentation

LinearAxis

enum class libstp::motion::LinearAxis

strong

Selects which body-frame axis LinearMotion should move along.

Enumerator
Forward
Lateral

Definition at line 18 of file linear_motion.hpp.

LineFollowCorrectionMode

enum class libstp::motion::LineFollowCorrectionMode

strong

Enumerator
Angular
Lateral
Forward

Definition at line 13 of file directional_line_follow_motion.hpp.

PidType

enum class libstp::motion::PidType

strong

PID controller type for factory creation.

Enumerator
Distance
Heading

Definition at line 14 of file motion_pid.hpp.

Function Documentation

createPidController()

std::unique_ptr< foundation::PidController > libstp::motion::createPidController	(	const UnifiedMotionPidConfig &	unified_config,
		PidType	type )

Factory function to create PID controllers from unified config.

Extracts the appropriate PidConfig (distance or heading) from the unified motion config and returns a ready-to-use PidController.

defaultUnifiedMotionPidConfig()

UnifiedMotionPidConfig libstp::motion::defaultUnifiedMotionPidConfig ( )

inline

Default unified PID configuration.

Definition at line 97 of file motion_config.hpp.

Variable Documentation

kMotionEpsilon

double libstp::motion::kMotionEpsilon = 1e-6

inlineconstexpr

Numerical tolerance for "is this float effectively zero" checks across the motion / kinematics layer. One value, one rationale: at our scales (meters, rad/s, normalised speed scales) anything below 1e-6 is below the resolution of the underlying float32 sensor data and the int-based firmware feedback path. Don't introduce new ad-hoc thresholds — use this constant or document a deliberate exception.

Definition at line 13 of file motion_config.hpp.