#include <RobotConfig.hpp>

Public Attributes
float	widthCm {18.0f}
float	lengthCm {18.0f}
float	rotationCenterForwardCm {0.0f}
float	rotationCenterStrafeCm {0.0f}
std::string	driveType {"differential"}
	Drive kinematics (meters).
float	wheelRadiusM {0.03f}
float	trackWidthM {0.15f}
float	wheelbaseM {0.15f}
std::vector< SensorMount >	lineSensors
std::vector< SensorMount >	distanceSensors

Detailed Description

Robot footprint + kinematics + sensor placement. Mirrors the shape of web-ide ConnectionInfo + RobotConfig so ftmap/device payloads drop in without translation.

Definition at line 24 of file RobotConfig.hpp.

Member Data Documentation

◆ distanceSensors

std::vector<SensorMount> libstp::sim::RobotConfig::distanceSensors

Definition at line 41 of file RobotConfig.hpp.

◆ driveType

std::string libstp::sim::RobotConfig::driveType {"differential"}

Drive kinematics (meters).

Definition at line 35 of file RobotConfig.hpp.

◆ lengthCm

float libstp::sim::RobotConfig::lengthCm {18.0f}

Definition at line 27 of file RobotConfig.hpp.

◆ lineSensors

std::vector<SensorMount> libstp::sim::RobotConfig::lineSensors

Definition at line 40 of file RobotConfig.hpp.

◆ rotationCenterForwardCm

float libstp::sim::RobotConfig::rotationCenterForwardCm {0.0f}

Rotation center offset from geometric center. Matches the web-ide physics.ts convention used by getRectangle().

Definition at line 31 of file RobotConfig.hpp.

◆ rotationCenterStrafeCm

float libstp::sim::RobotConfig::rotationCenterStrafeCm {0.0f}

Definition at line 32 of file RobotConfig.hpp.

◆ trackWidthM

float libstp::sim::RobotConfig::trackWidthM {0.15f}

Definition at line 37 of file RobotConfig.hpp.

◆ wheelbaseM

float libstp::sim::RobotConfig::wheelbaseM {0.15f}

Definition at line 38 of file RobotConfig.hpp.

◆ wheelRadiusM

float libstp::sim::RobotConfig::wheelRadiusM {0.03f}

Definition at line 36 of file RobotConfig.hpp.

◆ widthCm

float libstp::sim::RobotConfig::widthCm {18.0f}

Definition at line 26 of file RobotConfig.hpp.

The documentation for this struct was generated from the following file:

/home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-sim/include/libstp/sim/RobotConfig.hpp

Public Attributes