#include <diagonal_motion.hpp>

Public Attributes
double	angle_rad {0.0}
double	distance_m {0.0}
double	speed_scale {1.0}
double	target_heading_rad {0.0}
bool	has_distance_target {true}

Detailed Description

Configuration for a body-frame diagonal travel command.

angle_rad is measured in the robot frame where 0 points forward and positive angles rotate toward the robot's right side.

Definition at line 21 of file diagonal_motion.hpp.

Member Data Documentation

◆ angle_rad

double libstp::motion::DiagonalMotionConfig::angle_rad {0.0}

Definition at line 23 of file diagonal_motion.hpp.

◆ distance_m

double libstp::motion::DiagonalMotionConfig::distance_m {0.0}

Definition at line 24 of file diagonal_motion.hpp.

◆ has_distance_target

bool libstp::motion::DiagonalMotionConfig::has_distance_target {true}

True (default) when distance_m is a real positional target. Set false when callers use the motion in "until" mode — see LinearMotionConfig::has_distance_target. With SpeedMode active and this flag true, start() raises std::logic_error.

Definition at line 35 of file diagonal_motion.hpp.

◆ speed_scale

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

Definition at line 25 of file diagonal_motion.hpp.

◆ target_heading_rad

double libstp::motion::DiagonalMotionConfig::target_heading_rad {0.0}

Absolute world-frame heading (radians) the controller holds during the motion. Required — path executor sets this per segment.

Definition at line 29 of file diagonal_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/diagonal_motion.hpp