motions.hpp File Reference

#include "hololib/chassis.hpp"
#include "hololib/config.hpp"
#include "hololib/localization/odometry.hpp"
#include "hololib/util/GainScheduler.hpp"
#include "hololib/util/obstacle_manager.hpp"
#include <cstdint>
#include <functional>
#include <vector>

Go to the source code of this file.

Classes
struct	hololib::MoveParams
struct	hololib::MoveSettings
struct	hololib::PathPoint

Namespaces
namespace	hololib

Enumerations
enum class	hololib::HeadingMode { hololib::FollowPath , hololib::HoldAngle , hololib::CustomAngles }
enum class	hololib::SwingSide { hololib::Left , hololib::Right }

Functions
void	hololib::moveToPoint (float tx, float ty, MoveParams params={}, MoveSettings settings={})
	Moves the robot to a specific point using PID control.
void	hololib::followPath (const std::vector< PathPoint > &path, float lookaheadDistance, HeadingMode headingMode, float holdAngleDeg, bool reversed, MoveParams params={}, MoveSettings settings={})
void	hololib::turnToHeading (float targetDeg, MoveParams params={}, MoveSettings settings={})
void	hololib::turnToPoint (float tx, float ty, MoveParams params={}, MoveSettings settings={})
void	hololib::moveRelative (float forward, float sideways, bool holdHeading=true, MoveParams params={}, MoveSettings settings={})
void	hololib::moveDistance (float distance, bool holdHeading=true, MoveParams params={}, MoveSettings settings={})
void	hololib::strafeDistance (float distance, bool holdHeading=true, MoveParams params={}, MoveSettings settings={})
void	hololib::moveToPose (float tx, float ty, float targetThetaDeg, MoveParams params={}, MoveSettings settings={})
void	hololib::swingTurn (float targetThetaDeg, SwingSide lockedSide, MoveParams params={}, MoveSettings settings={})

Variables
constexpr float	hololib::DEG2RAD = M_PI / 180.0f
constexpr float	hololib::RAD2DEG = 180.0f / M_PI