#include <arc_motion.hpp>

Public Attributes
double	radius_m {0.0}
double	arc_angle_rad {0.0}
double	speed_scale {1.0}
bool	lateral {false}

Detailed Description

Configuration for a circular arc motion.

The robot drives forward while simultaneously turning, tracing a circular arc of the given radius. The arc is complete when the heading has changed by arc_angle_rad.

arc_angle_rad > 0 → counter-clockwise (left) arc
arc_angle_rad < 0 → clockwise (right) arc
radius_m is always positive (distance from arc center to robot)

speed_scale carries both magnitude and travel direction:

speed_scale > 0 → drive the arc forwards
speed_scale < 0 → drive the arc BACKWARDS along the same circle: the arc centre stays on the same side, the robot reverses and its heading turns the opposite way (a forward left arc's mirror in time). The effective magnitude is |speed_scale|, clamped to [0.01, 1.0].

Definition at line 31 of file arc_motion.hpp.

Member Data Documentation

◆ arc_angle_rad

double libstp::motion::ArcMotionConfig::arc_angle_rad {0.0}

Definition at line 34 of file arc_motion.hpp.

◆ lateral

bool libstp::motion::ArcMotionConfig::lateral {false}

Definition at line 36 of file arc_motion.hpp.

◆ radius_m

double libstp::motion::ArcMotionConfig::radius_m {0.0}

Definition at line 33 of file arc_motion.hpp.

◆ speed_scale

double libstp::motion::ArcMotionConfig::speed_scale {1.0}

Definition at line 35 of file arc_motion.hpp.

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

/home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-motion/include/motion/arc_motion.hpp