#include <armarx/navigation/trajectory_control/global/TrajectoryController.h>

Public Attributes
bool	angularFeedforwardSaturated = false
	True while the angular feed-forward is pinned at the limit, which leaves the orientation feedback no authority to correct a heading error on top of it.

float	cappedFfVel = 0

float	currentOrientation

float	desiredOrientation

core::GlobalTrajectoryPoint	dropPoint

float	ffAngular = 0

GuardVerdict	guard = GuardVerdict::None

bool	isFinalSegment

float	orientationError

float	positionError

std::size_t	projectionIndex = 0
	Index of the trajectory segment the controller is tracking.

core::Twist	twist

Detailed Description

Definition at line 57 of file TrajectoryController.h.

Member Data Documentation

◆ angularFeedforwardSaturated

bool angularFeedforwardSaturated = false

True while the angular feed-forward is pinned at the limit, which leaves the orientation feedback no authority to correct a heading error on top of it.

Definition at line 75 of file TrajectoryController.h.

◆ cappedFfVel

float cappedFfVel = 0

Definition at line 67 of file TrajectoryController.h.

◆ currentOrientation

float currentOrientation

Definition at line 62 of file TrajectoryController.h.

◆ desiredOrientation

float desiredOrientation

Definition at line 63 of file TrajectoryController.h.

◆ dropPoint

core::GlobalTrajectoryPoint dropPoint

Definition at line 60 of file TrajectoryController.h.

◆ ffAngular

float ffAngular = 0

Definition at line 66 of file TrajectoryController.h.

◆ guard

GuardVerdict guard = GuardVerdict::None

Definition at line 77 of file TrajectoryController.h.

◆ isFinalSegment

bool isFinalSegment

Definition at line 61 of file TrajectoryController.h.

◆ orientationError

float orientationError

Definition at line 64 of file TrajectoryController.h.

◆ positionError

float positionError

Definition at line 65 of file TrajectoryController.h.

◆ projectionIndex

std::size_t projectionIndex = 0

Index of the trajectory segment the controller is tracking.

The single most useful quantity for telling a stalled reference from a saturated feed-forward.

Definition at line 71 of file TrajectoryController.h.

◆ twist

core::Twist twist

Definition at line 59 of file TrajectoryController.h.

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

armarx/navigation/trajectory_control/global/TrajectoryController.h

Public Attributes