Configuration for the MotionTuner (Hooke-Jeeves coordinate descent). More...

#include <types.hpp>

Public Attributes
int	sample_hz {100}
	Update loop rate (Hz).
double	settle_s {0.5}
	Post-trial settle time (s).
int	max_iterations {6}
	Maximum Hooke-Jeeves iterations.
double	initial_delta_frac {0.25}
	Fraction of initial gain for first delta.
double	min_delta {0.01}
	Minimum delta before stopping.
double	delta_shrink {0.5}
	Factor to shrink deltas on no improvement.
double	linear_test_distance_m {0.90}
	Linear test distance per trial (m).
double	turn_test_angle_deg {90.0}
	Turn test angle (degrees).
double	motion_timeout_s {10.0}
	Maximum trial duration (s).
double	min_timeout_s {4.0}
	Minimum computed timeout (s).
double	stuck_timeout_s {1.5}
	Time without progress → stuck (s).
double	stuck_linear_progress_m {0.03}
	Linear progress threshold (m).
double	stuck_angular_progress_deg {8.0}
	Angular progress threshold (deg).
double	primary_speed_scale {1.0}
	Speed scale for trial motions.
double	min_linear_distance_m {0.40}
	Minimum clamped test distance (m).
double	max_linear_distance_m {1.00}
	Maximum clamped test distance (m).
double	score_settle_weight {1.0}
double	score_overshoot_weight {10.0}
double	score_error_weight {5.0}
double	score_timeout_penalty {50.0}
double	score_constraint_breach_base {25.0}
double	linear_overshoot_soft_m {0.010}
double	linear_final_error_soft_m {0.010}
double	turn_overshoot_soft_rad {0.05236}
	3 degrees in radians.
double	turn_final_error_soft_rad {0.03491}
	2 degrees in radians.
double	score_linear_overshoot_breach_per_m {2000.0}
double	score_linear_error_breach_per_m {1000.0}
double	score_turn_overshoot_breach_per_rad {400.0}
double	score_turn_error_breach_per_rad {250.0}

Detailed Description

Configuration for the MotionTuner (Hooke-Jeeves coordinate descent).

Definition at line 159 of file types.hpp.

Member Data Documentation

◆ delta_shrink

double libstp::autotune::MotionTuneConfig::delta_shrink {0.5}

Factor to shrink deltas on no improvement.

Definition at line 166 of file types.hpp.

◆ initial_delta_frac

double libstp::autotune::MotionTuneConfig::initial_delta_frac {0.25}

Fraction of initial gain for first delta.

Definition at line 164 of file types.hpp.

◆ linear_final_error_soft_m

double libstp::autotune::MotionTuneConfig::linear_final_error_soft_m {0.010}

Definition at line 195 of file types.hpp.

◆ linear_overshoot_soft_m

double libstp::autotune::MotionTuneConfig::linear_overshoot_soft_m {0.010}

Definition at line 194 of file types.hpp.

◆ linear_test_distance_m

double libstp::autotune::MotionTuneConfig::linear_test_distance_m {0.90}

Linear test distance per trial (m).

Definition at line 175 of file types.hpp.

◆ max_iterations

int libstp::autotune::MotionTuneConfig::max_iterations {6}

Maximum Hooke-Jeeves iterations.

Definition at line 163 of file types.hpp.

◆ max_linear_distance_m

double libstp::autotune::MotionTuneConfig::max_linear_distance_m {1.00}

Maximum clamped test distance (m).

Definition at line 184 of file types.hpp.

◆ min_delta

double libstp::autotune::MotionTuneConfig::min_delta {0.01}

Minimum delta before stopping.

Definition at line 165 of file types.hpp.

◆ min_linear_distance_m

double libstp::autotune::MotionTuneConfig::min_linear_distance_m {0.40}

Minimum clamped test distance (m).

Definition at line 183 of file types.hpp.

◆ min_timeout_s

double libstp::autotune::MotionTuneConfig::min_timeout_s {4.0}

Minimum computed timeout (s).

Definition at line 178 of file types.hpp.

◆ motion_timeout_s

double libstp::autotune::MotionTuneConfig::motion_timeout_s {10.0}

Maximum trial duration (s).

Definition at line 177 of file types.hpp.

◆ primary_speed_scale

double libstp::autotune::MotionTuneConfig::primary_speed_scale {1.0}

Speed scale for trial motions.

Definition at line 182 of file types.hpp.

◆ sample_hz

int libstp::autotune::MotionTuneConfig::sample_hz {100}

Update loop rate (Hz).

Definition at line 161 of file types.hpp.

◆ score_constraint_breach_base

double libstp::autotune::MotionTuneConfig::score_constraint_breach_base {25.0}

Definition at line 191 of file types.hpp.

◆ score_error_weight

double libstp::autotune::MotionTuneConfig::score_error_weight {5.0}

Definition at line 189 of file types.hpp.

◆ score_linear_error_breach_per_m

double libstp::autotune::MotionTuneConfig::score_linear_error_breach_per_m {1000.0}

Definition at line 199 of file types.hpp.

◆ score_linear_overshoot_breach_per_m

double libstp::autotune::MotionTuneConfig::score_linear_overshoot_breach_per_m {2000.0}

Definition at line 198 of file types.hpp.

◆ score_overshoot_weight

double libstp::autotune::MotionTuneConfig::score_overshoot_weight {10.0}

Definition at line 188 of file types.hpp.

◆ score_settle_weight

double libstp::autotune::MotionTuneConfig::score_settle_weight {1.0}

Definition at line 187 of file types.hpp.

◆ score_timeout_penalty

double libstp::autotune::MotionTuneConfig::score_timeout_penalty {50.0}

Definition at line 190 of file types.hpp.

◆ score_turn_error_breach_per_rad

double libstp::autotune::MotionTuneConfig::score_turn_error_breach_per_rad {250.0}

Definition at line 201 of file types.hpp.

◆ score_turn_overshoot_breach_per_rad

double libstp::autotune::MotionTuneConfig::score_turn_overshoot_breach_per_rad {400.0}

Definition at line 200 of file types.hpp.

◆ settle_s

double libstp::autotune::MotionTuneConfig::settle_s {0.5}

Post-trial settle time (s).

Definition at line 162 of file types.hpp.

◆ stuck_angular_progress_deg

double libstp::autotune::MotionTuneConfig::stuck_angular_progress_deg {8.0}

Angular progress threshold (deg).

Definition at line 181 of file types.hpp.

◆ stuck_linear_progress_m

double libstp::autotune::MotionTuneConfig::stuck_linear_progress_m {0.03}

Linear progress threshold (m).

Definition at line 180 of file types.hpp.

◆ stuck_timeout_s

double libstp::autotune::MotionTuneConfig::stuck_timeout_s {1.5}

Time without progress → stuck (s).

Definition at line 179 of file types.hpp.

◆ turn_final_error_soft_rad

double libstp::autotune::MotionTuneConfig::turn_final_error_soft_rad {0.03491}

2 degrees in radians.

Definition at line 197 of file types.hpp.

◆ turn_overshoot_soft_rad

double libstp::autotune::MotionTuneConfig::turn_overshoot_soft_rad {0.05236}

3 degrees in radians.

Definition at line 196 of file types.hpp.

◆ turn_test_angle_deg

double libstp::autotune::MotionTuneConfig::turn_test_angle_deg {90.0}

Turn test angle (degrees).

Definition at line 176 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