libstp::kinematics::MotorCommands Struct Reference

#include <kinematics.hpp>

Public Attributes
std::vector< double >	wheel_velocities {}
bool	saturated_any {false}
std::uint32_t	saturation_mask {0}

Detailed Description

Result of mapping a chassis-space command onto the drivetrain.

wheel_velocities is the primary output used by current callers. The saturation fields are reserved for models that implement explicit limit handling and want to report which wheel commands were clipped.

Definition at line 19 of file kinematics.hpp.

Member Data Documentation

saturated_any

bool libstp::kinematics::MotorCommands::saturated_any {false}

Definition at line 22 of file kinematics.hpp.

saturation_mask

std::uint32_t libstp::kinematics::MotorCommands::saturation_mask {0}

Definition at line 23 of file kinematics.hpp.

wheel_velocities

std::vector<double> libstp::kinematics::MotorCommands::wheel_velocities {}

Definition at line 21 of file kinematics.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-kinematics/include/kinematics/kinematics.hpp