Encoder calibration result. More...

#include <types.hpp>

Public Attributes
std::array< double, 4 >	ticks_to_rad {}
	New per-motor ticks_to_rad.
std::array< double, 4 >	scale_factors {}
	Per-motor scale factor (same for all).
double	imu_total_angle_rad {0.0}
double	odom_total_angle_rad {0.0}
bool	success {false}
std::string	failure_reason {}

Detailed Description

Encoder calibration result.

The scale factor is identical for all motors — it reflects the systematic error in the assumed ticks_to_rad. Per-motor variation needs richer kinematics; this calibrator only fixes the global ratio.

Definition at line 461 of file types.hpp.

Member Data Documentation

◆ failure_reason

std::string libstp::autotune::EncoderCalResult::failure_reason {}

Definition at line 468 of file types.hpp.

◆ imu_total_angle_rad

double libstp::autotune::EncoderCalResult::imu_total_angle_rad {0.0}

Definition at line 465 of file types.hpp.

◆ odom_total_angle_rad

double libstp::autotune::EncoderCalResult::odom_total_angle_rad {0.0}

Definition at line 466 of file types.hpp.

◆ scale_factors

std::array<double, 4> libstp::autotune::EncoderCalResult::scale_factors {}

Per-motor scale factor (same for all).

Definition at line 464 of file types.hpp.

◆ success

bool libstp::autotune::EncoderCalResult::success {false}

Definition at line 467 of file types.hpp.

◆ ticks_to_rad

std::array<double, 4> libstp::autotune::EncoderCalResult::ticks_to_rad {}

New per-motor ticks_to_rad.

Definition at line 463 of file types.hpp.

The documentation for this struct was generated from the following file:

/home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-autotune/include/autotune/types.hpp

Public Attributes