#include <spline_motion.hpp>

Public Attributes
std::vector< std::pair< double, double > >	waypoints_m
std::vector< double >	headings_rad
double	speed_scale {1.0}
std::optional< double >	final_heading_rad {}

Detailed Description

Configuration for a spline path motion.

Waypoints are in the robot's start frame: first = forward (meters), second = lateral-right (meters, positive = right).

If headings_rad is empty, the robot heading follows the spline tangent. If headings_rad has one entry per waypoint, headings are linearly interpolated vs arc-length (omni drivetrains only).

Definition at line 28 of file spline_motion.hpp.

Member Data Documentation

◆ final_heading_rad

std::optional<double> libstp::motion::SplineMotionConfig::final_heading_rad {}

When set, the robot smoothly rotates to this heading (radians, relative to the robot's start orientation) as it follows the path. Builds a two-point heading LUT: start=0 → end=final_heading_rad, linearly interpolated by arc-length. Ignored when headings_rad is non-empty (explicit per-waypoint headings take precedence). Headings are interpreted in the body frame captured at start; the controller adds the captured absolute heading offset internally.

Definition at line 49 of file spline_motion.hpp.

◆ headings_rad

std::vector<double> libstp::motion::SplineMotionConfig::headings_rad

Definition at line 31 of file spline_motion.hpp.

◆ speed_scale

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

Definition at line 40 of file spline_motion.hpp.

◆ waypoints_m

std::vector<std::pair<double, double> > libstp::motion::SplineMotionConfig::waypoints_m

Definition at line 30 of file spline_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/spline_motion.hpp