libstp::autotune::OdometrySnapshot Struct Reference

#include <odometry_snapshot.hpp>

Public Member Functions
std::pair< double, double >	projectBodyFrame (const odometry::IOdometry &odom) const
double	headingDelta (const odometry::IOdometry &odom) const
	Return signed heading delta wrapped to [-pi, pi].

Static Public Member Functions
static OdometrySnapshot	capture (const odometry::IOdometry &odom)

Public Attributes
double	x {0.0}
double	y {0.0}
double	heading {0.0}

Detailed Description

Snapshot a pose at the start of a trial and project subsequent absolute odometry reads into that snapshot's body frame. Replaces the historical odometry.reset() call at trial start — autotune steps are responsible for being "relative" themselves; odometry stays absolute.

Definition at line 14 of file odometry_snapshot.hpp.

Member Function Documentation

capture()

OdometrySnapshot libstp::autotune::OdometrySnapshot::capture ( const odometry::IOdometry & odom )

inlinestatic

Definition at line 20 of file odometry_snapshot.hpp.

headingDelta()

double libstp::autotune::OdometrySnapshot::headingDelta ( const odometry::IOdometry & odom ) const

inlinenodiscard

Return signed heading delta wrapped to [-pi, pi].

Definition at line 44 of file odometry_snapshot.hpp.

projectBodyFrame()

std::pair< double, double > libstp::autotune::OdometrySnapshot::projectBodyFrame ( const odometry::IOdometry & odom ) const

inlinenodiscard

Return (forward, lateral) signed distances in the snapshot body frame. Matches IOdometry::getDistanceFromOrigin convention.

Definition at line 31 of file odometry_snapshot.hpp.

Member Data Documentation

heading

double libstp::autotune::OdometrySnapshot::heading {0.0}

Definition at line 18 of file odometry_snapshot.hpp.

x

double libstp::autotune::OdometrySnapshot::x {0.0}

Definition at line 16 of file odometry_snapshot.hpp.

y

double libstp::autotune::OdometrySnapshot::y {0.0}

Definition at line 17 of file odometry_snapshot.hpp.

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

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