#include <types.hpp>

Public Member Functions
	VelocityCommandGain ()=default
	VelocityCommandGain (double vx_, double vy_, double wz_)

Public Attributes
double	vx {1.0}
	Forward-axis command gain (1.0 = no scaling).
double	vy {1.0}
	Lateral-axis command gain (1.0 = no scaling).
double	wz {1.0}
	Angular-axis command gain (1.0 = no scaling).

Detailed Description

Per-axis velocity-command gain folded into a drivetrain's forward kinematics to compensate efficiency losses (e.g. mecanum roller slip). Calibrated by the autotune velocity phase; identity (1.0) means no scaling. Shares the vx/vy/wz axis convention with ChassisVelocity but is a distinct type so it cannot be mixed up with an actual velocity.

Definition at line 38 of file types.hpp.

Constructor & Destructor Documentation

◆ VelocityCommandGain() [1/2]

libstp::foundation::VelocityCommandGain::VelocityCommandGain ( )

default

◆ VelocityCommandGain() [2/2]

libstp::foundation::VelocityCommandGain::VelocityCommandGain	(	double	vx_,
		double	vy_,
		double	wz_ )

inline

Definition at line 44 of file types.hpp.

Member Data Documentation

◆ vx

double libstp::foundation::VelocityCommandGain::vx {1.0}

Forward-axis command gain (1.0 = no scaling).

Definition at line 39 of file types.hpp.

◆ vy

double libstp::foundation::VelocityCommandGain::vy {1.0}

Lateral-axis command gain (1.0 = no scaling).

Definition at line 40 of file types.hpp.

◆ wz

double libstp::foundation::VelocityCommandGain::wz {1.0}

Angular-axis command gain (1.0 = no scaling).

Definition at line 41 of file types.hpp.

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

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

Public Member Functions

Public Attributes