libstp
Robotics library for Botball
Loading...
Searching...
No Matches
libstp::motion::DirectionalLineFollowMotionConfig Struct Reference

#include <directional_line_follow_motion.hpp>

Public Attributes

double heading_speed {0.0}
double strafe_speed {0.0}
double distance_m {0.0}
bool has_distance_target {false}
double kp {0.4}
double ki {0.0}
double kd {0.1}
double integral_max {1.0}
double integral_min {std::numeric_limits<double>::quiet_NaN()}
LineFollowCorrectionMode correction_mode {LineFollowCorrectionMode::Angular}
bool heading_hold {true}
double correction_sign {1.0}
bool has_target_heading {false}
double target_heading_rad {0.0}

Detailed Description

Definition at line 20 of file directional_line_follow_motion.hpp.

Member Data Documentation

◆ correction_mode

LineFollowCorrectionMode libstp::motion::DirectionalLineFollowMotionConfig::correction_mode {LineFollowCorrectionMode::Angular}

Definition at line 34 of file directional_line_follow_motion.hpp.

◆ correction_sign

double libstp::motion::DirectionalLineFollowMotionConfig::correction_sign {1.0}

Definition at line 36 of file directional_line_follow_motion.hpp.

◆ distance_m

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

Definition at line 24 of file directional_line_follow_motion.hpp.

◆ has_distance_target

bool libstp::motion::DirectionalLineFollowMotionConfig::has_distance_target {false}

Definition at line 25 of file directional_line_follow_motion.hpp.

◆ has_target_heading

bool libstp::motion::DirectionalLineFollowMotionConfig::has_target_heading {false}

Definition at line 41 of file directional_line_follow_motion.hpp.

◆ heading_hold

bool libstp::motion::DirectionalLineFollowMotionConfig::heading_hold {true}

Definition at line 35 of file directional_line_follow_motion.hpp.

◆ heading_speed

double libstp::motion::DirectionalLineFollowMotionConfig::heading_speed {0.0}

Definition at line 22 of file directional_line_follow_motion.hpp.

◆ integral_max

double libstp::motion::DirectionalLineFollowMotionConfig::integral_max {1.0}

Definition at line 32 of file directional_line_follow_motion.hpp.

◆ integral_min

double libstp::motion::DirectionalLineFollowMotionConfig::integral_min {std::numeric_limits<double>::quiet_NaN()}

Definition at line 33 of file directional_line_follow_motion.hpp.

◆ kd

double libstp::motion::DirectionalLineFollowMotionConfig::kd {0.1}

Definition at line 28 of file directional_line_follow_motion.hpp.

◆ ki

double libstp::motion::DirectionalLineFollowMotionConfig::ki {0.0}

Definition at line 27 of file directional_line_follow_motion.hpp.

◆ kp

double libstp::motion::DirectionalLineFollowMotionConfig::kp {0.4}

Definition at line 26 of file directional_line_follow_motion.hpp.

◆ strafe_speed

double libstp::motion::DirectionalLineFollowMotionConfig::strafe_speed {0.0}

Definition at line 23 of file directional_line_follow_motion.hpp.

◆ target_heading_rad

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

Definition at line 42 of file directional_line_follow_motion.hpp.

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