#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

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.

◆ cappedFfVel

float cappedFfVel = 0

◆ currentOrientation

float currentOrientation

◆ desiredOrientation

float desiredOrientation

◆ dropPoint

core::GlobalTrajectoryPoint dropPoint

◆ ffAngular

float ffAngular = 0

◆ guard

GuardVerdict guard = GuardVerdict::None

◆ isFinalSegment

bool isFinalSegment

◆ orientationError

float orientationError

◆ positionError

float positionError

◆ 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.

◆ twist

core::Twist twist

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

armarx/navigation/trajectory_control/global/TrajectoryController.h

Public Attributes