#include <turn_motion.hpp>

Public Attributes
double	target_angle_rad {0.0}
double	speed_scale {1.0}
double	kS {0.0}
bool	has_angle_target {true}

Detailed Description

Configuration for an in-place turn.

Definition at line 9 of file turn_motion.hpp.

Member Data Documentation

◆ has_angle_target

bool libstp::motion::TurnConfig::has_angle_target {true}

True (default) when target_angle_rad is a real angular goal. Set to false when the caller drives the turn purely via an external until-condition (sensor / timeout) so SpeedMode is still admissible. With SpeedMode active and this flag true, start() raises std::logic_error.

Definition at line 20 of file turn_motion.hpp.

◆ kS

double libstp::motion::TurnConfig::kS {0.0}

Definition at line 13 of file turn_motion.hpp.

◆ speed_scale

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

Definition at line 12 of file turn_motion.hpp.

◆ target_angle_rad

double libstp::motion::TurnConfig::target_angle_rad {0.0}

Definition at line 11 of file turn_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/turn_motion.hpp