libstp::sim Namespace Reference

Namespaces
namespace	collision

Classes
struct	Vec2
struct	Pose2D
struct	SensorMount
struct	RobotConfig
struct	SimMotorMap
class	SimWorld

Typedefs
using	WorldMap = libstp::map::WorldMap
using	MapSegment = libstp::map::MapSegment
using	MapLayer = libstp::map::MapLayer
using	TransitionEdge = libstp::map::TransitionEdge
using	MapTransition = libstp::map::MapTransition
using	FtmapParseError = libstp::map::FtmapParseError

Enumerations
enum class	DrivetrainKind : uint8_t { Differential , Mecanum }

Functions
float	normalizeAngle (float angle) noexcept
Pose2D	applyLocalDelta (const Pose2D &pose, float dxLocal, float dyLocal, float dTheta) noexcept
	Apply a delta expressed in the robot's local frame (forward, left, yaw).
Pose2D	forwardMove (const Pose2D &pose, float distanceCm) noexcept
Pose2D	strafeMove (const Pose2D &pose, float distanceCm) noexcept
Pose2D	rotate (const Pose2D &pose, float angleRad) noexcept

Typedef Documentation

FtmapParseError

using libstp::sim::FtmapParseError = libstp::map::FtmapParseError

Definition at line 17 of file WorldMap.hpp.

MapLayer

using libstp::sim::MapLayer = libstp::map::MapLayer

Definition at line 14 of file WorldMap.hpp.

MapSegment

using libstp::sim::MapSegment = libstp::map::MapSegment

Definition at line 13 of file WorldMap.hpp.

MapTransition

using libstp::sim::MapTransition = libstp::map::MapTransition

Definition at line 16 of file WorldMap.hpp.

TransitionEdge

using libstp::sim::TransitionEdge = libstp::map::TransitionEdge

Definition at line 15 of file WorldMap.hpp.

WorldMap

using libstp::sim::WorldMap = libstp::map::WorldMap

Definition at line 12 of file WorldMap.hpp.

Enumeration Type Documentation

DrivetrainKind

enum class libstp::sim::DrivetrainKind : uint8_t

strong

Drivetrain topology the sim should use to mix wheel ω into chassis velocity. The mock HAL still drives one motor port at a time — this only changes how the sim interprets the resulting wheel speeds.

Enumerator
Differential	Two wheels (left/right). Default for legacy configs.
Mecanum	Four wheels (FL/FR/BL/BR) with 45° rollers.

Definition at line 20 of file SimWorld.hpp.

Function Documentation

applyLocalDelta()

Pose2D libstp::sim::applyLocalDelta ( const Pose2D & pose, float dxLocal, float dyLocal, float dTheta )

inlinenoexcept

Apply a delta expressed in the robot's local frame (forward, left, yaw).

Definition at line 34 of file Pose2D.hpp.

forwardMove()

Pose2D libstp::sim::forwardMove ( const Pose2D & pose, float distanceCm )

inlinenoexcept

Definition at line 45 of file Pose2D.hpp.

normalizeAngle()

float libstp::sim::normalizeAngle ( float angle )

inlinenoexcept

Definition at line 24 of file Pose2D.hpp.

rotate()

Pose2D libstp::sim::rotate ( const Pose2D & pose, float angleRad )

inlinenoexcept

Definition at line 65 of file Pose2D.hpp.

strafeMove()

Pose2D libstp::sim::strafeMove ( const Pose2D & pose, float distanceCm )

inlinenoexcept

Definition at line 54 of file Pose2D.hpp.