#include <motion.hpp>

Collaboration diagram for libstp::motion::MotionContext:

Public Attributes
drive::Drive &	drive
odometry::IOdometry &	odometry
const UnifiedMotionPidConfig &	pid_config

Detailed Description

Shared runtime dependencies for a motion primitive.

Motion controllers borrow these references for their entire lifetime and assume the referenced drivetrain and odometry instances outlive them.

Definition at line 15 of file motion.hpp.

Member Data Documentation

drive::Drive& libstp::motion::MotionContext::drive

Definition at line 17 of file motion.hpp.

odometry::IOdometry& libstp::motion::MotionContext::odometry

Definition at line 18 of file motion.hpp.

const UnifiedMotionPidConfig& libstp::motion::MotionContext::pid_config

Definition at line 19 of file 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/motion.hpp