#include <motion_config.hpp>

Collaboration diagram for libstp::motion::UnifiedMotionPidConfig:

Public Attributes
foundation::PidConfig	distance {2.0, 0.0, 0.5, 10.0, 0.01, 0.3}
foundation::PidConfig	heading {2.0, 0.0, 0.3, 10.0, 0.01, 0.3}
double	velocity_ff {1.0}
double	saturation_derating_factor {0.9}
double	saturation_min_scale {0.2}
double	saturation_recovery_rate {0.03}
double	heading_saturation_derating_factor {0.85}
double	heading_min_scale {0.25}
double	heading_recovery_rate {0.05}
int	saturation_hold_cycles {5}
double	saturation_recovery_threshold {0.95}
double	distance_tolerance_m {0.002}
double	angle_tolerance_rad {0.035}
double	heading_saturation_error_rad {0.01}
double	heading_recovery_error_rad {0.005}
double	heading_omega_slew {0.0}
AxisConstraints	linear {}
AxisConstraints	lateral {}
AxisConstraints	angular {}

Detailed Description

Unified PID and saturation configuration for all motion primitives.

This configuration is intended to be robot-wide and speed-independent. The axis constraints should come from measured robot behavior rather than hand-picked guesses.

Definition at line 40 of file motion_config.hpp.

Member Data Documentation

◆ angle_tolerance_rad

double libstp::motion::UnifiedMotionPidConfig::angle_tolerance_rad {0.035}

Definition at line 73 of file motion_config.hpp.

◆ angular

AxisConstraints libstp::motion::UnifiedMotionPidConfig::angular {}

Definition at line 91 of file motion_config.hpp.

◆ distance

foundation::PidConfig libstp::motion::UnifiedMotionPidConfig::distance {2.0, 0.0, 0.5, 10.0, 0.01, 0.3}

Definition at line 43 of file motion_config.hpp.

◆ distance_tolerance_m

double libstp::motion::UnifiedMotionPidConfig::distance_tolerance_m {0.002}

Definition at line 72 of file motion_config.hpp.

◆ heading

foundation::PidConfig libstp::motion::UnifiedMotionPidConfig::heading {2.0, 0.0, 0.3, 10.0, 0.01, 0.3}

Definition at line 46 of file motion_config.hpp.

◆ heading_min_scale

double libstp::motion::UnifiedMotionPidConfig::heading_min_scale {0.25}

Definition at line 60 of file motion_config.hpp.

◆ heading_omega_slew

double libstp::motion::UnifiedMotionPidConfig::heading_omega_slew {0.0}

Definition at line 85 of file motion_config.hpp.

◆ heading_recovery_error_rad

double libstp::motion::UnifiedMotionPidConfig::heading_recovery_error_rad {0.005}

Definition at line 77 of file motion_config.hpp.

◆ heading_recovery_rate

double libstp::motion::UnifiedMotionPidConfig::heading_recovery_rate {0.05}

Definition at line 61 of file motion_config.hpp.

◆ heading_saturation_derating_factor

double libstp::motion::UnifiedMotionPidConfig::heading_saturation_derating_factor {0.85}

Definition at line 59 of file motion_config.hpp.

◆ heading_saturation_error_rad

double libstp::motion::UnifiedMotionPidConfig::heading_saturation_error_rad {0.01}

Definition at line 76 of file motion_config.hpp.

◆ lateral

AxisConstraints libstp::motion::UnifiedMotionPidConfig::lateral {}

Definition at line 90 of file motion_config.hpp.

◆ linear

AxisConstraints libstp::motion::UnifiedMotionPidConfig::linear {}

Definition at line 89 of file motion_config.hpp.

◆ saturation_derating_factor

double libstp::motion::UnifiedMotionPidConfig::saturation_derating_factor {0.9}

Definition at line 54 of file motion_config.hpp.

◆ saturation_hold_cycles

int libstp::motion::UnifiedMotionPidConfig::saturation_hold_cycles {5}

Definition at line 64 of file motion_config.hpp.

◆ saturation_min_scale

double libstp::motion::UnifiedMotionPidConfig::saturation_min_scale {0.2}

Definition at line 55 of file motion_config.hpp.

◆ saturation_recovery_rate

double libstp::motion::UnifiedMotionPidConfig::saturation_recovery_rate {0.03}

Definition at line 56 of file motion_config.hpp.

◆ saturation_recovery_threshold

double libstp::motion::UnifiedMotionPidConfig::saturation_recovery_threshold {0.95}

Definition at line 65 of file motion_config.hpp.

◆ velocity_ff

double libstp::motion::UnifiedMotionPidConfig::velocity_ff {1.0}

Definition at line 51 of file motion_config.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_config.hpp

Public Attributes