#include <linear_motion.hpp>

Public Attributes
double	time_s {0.0}
double	dt {0.0}
double	target_m {0.0}
double	position_m {0.0}
double	predicted_m {0.0}
double	cross_track_m {0.0}
double	distance_error_m {0.0}
double	actual_error_m {0.0}
double	yaw_error_rad {0.0}
double	filtered_velocity_mps {0.0}
double	cmd_vx_mps {0.0}
double	cmd_vy_mps {0.0}
double	cmd_wz_radps {0.0}
double	pid_primary_raw {0.0}
double	pid_cross_raw {0.0}
double	pid_heading_raw {0.0}
double	setpoint_position_m {0.0}
double	setpoint_velocity_mps {0.0}
double	heading_rad {0.0}
double	speed_scale {1.0}
double	heading_scale {1.0}
bool	saturated {false}

Detailed Description

Per-cycle diagnostics captured while a LinearMotion instance runs.

Definition at line 50 of file linear_motion.hpp.

Member Data Documentation

◆ actual_error_m

double libstp::motion::LinearMotionTelemetry::actual_error_m {0.0}

Definition at line 61 of file linear_motion.hpp.

◆ cmd_vx_mps

double libstp::motion::LinearMotionTelemetry::cmd_vx_mps {0.0}

Definition at line 66 of file linear_motion.hpp.

◆ cmd_vy_mps

double libstp::motion::LinearMotionTelemetry::cmd_vy_mps {0.0}

Definition at line 67 of file linear_motion.hpp.

◆ cmd_wz_radps

double libstp::motion::LinearMotionTelemetry::cmd_wz_radps {0.0}

Definition at line 68 of file linear_motion.hpp.

◆ cross_track_m

double libstp::motion::LinearMotionTelemetry::cross_track_m {0.0}

Definition at line 58 of file linear_motion.hpp.

◆ distance_error_m

double libstp::motion::LinearMotionTelemetry::distance_error_m {0.0}

Definition at line 60 of file linear_motion.hpp.

◆ dt

double libstp::motion::LinearMotionTelemetry::dt {0.0}

Definition at line 53 of file linear_motion.hpp.

◆ filtered_velocity_mps

double libstp::motion::LinearMotionTelemetry::filtered_velocity_mps {0.0}

Definition at line 64 of file linear_motion.hpp.

◆ heading_rad

double libstp::motion::LinearMotionTelemetry::heading_rad {0.0}

Definition at line 77 of file linear_motion.hpp.

◆ heading_scale

double libstp::motion::LinearMotionTelemetry::heading_scale {1.0}

Definition at line 79 of file linear_motion.hpp.

◆ pid_cross_raw

double libstp::motion::LinearMotionTelemetry::pid_cross_raw {0.0}

Definition at line 71 of file linear_motion.hpp.

◆ pid_heading_raw

double libstp::motion::LinearMotionTelemetry::pid_heading_raw {0.0}

Definition at line 72 of file linear_motion.hpp.

◆ pid_primary_raw

double libstp::motion::LinearMotionTelemetry::pid_primary_raw {0.0}

Definition at line 70 of file linear_motion.hpp.

◆ position_m

double libstp::motion::LinearMotionTelemetry::position_m {0.0}

Definition at line 56 of file linear_motion.hpp.

◆ predicted_m

double libstp::motion::LinearMotionTelemetry::predicted_m {0.0}

Definition at line 57 of file linear_motion.hpp.

◆ saturated

bool libstp::motion::LinearMotionTelemetry::saturated {false}

Definition at line 80 of file linear_motion.hpp.

◆ setpoint_position_m

double libstp::motion::LinearMotionTelemetry::setpoint_position_m {0.0}

Definition at line 74 of file linear_motion.hpp.

◆ setpoint_velocity_mps

double libstp::motion::LinearMotionTelemetry::setpoint_velocity_mps {0.0}

Definition at line 75 of file linear_motion.hpp.

◆ speed_scale

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

Definition at line 78 of file linear_motion.hpp.

◆ target_m

double libstp::motion::LinearMotionTelemetry::target_m {0.0}

Definition at line 55 of file linear_motion.hpp.

◆ time_s

double libstp::motion::LinearMotionTelemetry::time_s {0.0}

Definition at line 52 of file linear_motion.hpp.

◆ yaw_error_rad

double libstp::motion::LinearMotionTelemetry::yaw_error_rad {0.0}

Definition at line 62 of file linear_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/linear_motion.hpp

Public Attributes