One cycle of the 100 Hz control task, i.e. one TrajectoryFollowingController::control. More...

#include <armarx/navigation/platform_controller/Diagnostics.h>

Public Attributes
float	cappedFfVelocity {0.F}

float	currentOrientation {0.F}

float	desiredOrientation {0.F}

std::uint64_t	episode {0}

float	ffAngular {0.F}

bool	ffSaturated {false}

bool	finalSegment {false}

std::int32_t	guard {0}
	`traj_ctrl::global::GuardVerdict` as an integer.

float	limitAngular {0.F}

float	limitLinear {0.F}
	The limits in force for this cycle.

float	orientationError {0.F}

float	positionError {0.F}
	Distance to the last trajectory point, which is what the controller calls `positionError`.

std::uint32_t	projectionIndex {0}

float	refVelocity {0.F}

float	refX {0.F}
	The trajectory point the controller projected onto – the reference it is tracking.

float	refY {0.F}

float	refYaw {0.F}

std::uint64_t	sequence {0}

std::int64_t	timestampUs {0}

std::uint64_t	trajectoryRevision {0}
	Which trajectory this cycle tracked. Indexes `trajectory.json`.

float	velocityFactor {1.F}

float	vFiltX {0.F}
	After the low-pass, i.e. what was handed to the real-time thread.

float	vFiltY {0.F}

float	vRawX {0.F}
	The controller's own output, base frame, before the `alpha` low-pass.

float	vRawY {0.F}

float	wFilt {0.F}

float	wRaw {0.F}

float	x {0.F}

float	y {0.F}

float	yaw {0.F}

Detailed Description

One cycle of the 100 Hz control task, i.e. one TrajectoryFollowingController::control.

Definition at line 110 of file Diagnostics.h.

Member Data Documentation

◆ cappedFfVelocity

float cappedFfVelocity {0.F}

Definition at line 140 of file Diagnostics.h.

◆ currentOrientation

float currentOrientation {0.F}

Definition at line 136 of file Diagnostics.h.

◆ desiredOrientation

float desiredOrientation {0.F}

Definition at line 137 of file Diagnostics.h.

◆ episode

std::uint64_t episode {0}

Definition at line 113 of file Diagnostics.h.

◆ ffAngular

float ffAngular {0.F}

Definition at line 139 of file Diagnostics.h.

◆ ffSaturated

bool ffSaturated {false}

Definition at line 141 of file Diagnostics.h.

◆ finalSegment

bool finalSegment {false}

Definition at line 130 of file Diagnostics.h.

◆ guard

std::int32_t guard {0}

traj_ctrl::global::GuardVerdict as an integer.

Definition at line 144 of file Diagnostics.h.

◆ limitAngular

float limitAngular {0.F}

Definition at line 162 of file Diagnostics.h.

◆ limitLinear

float limitLinear {0.F}

The limits in force for this cycle.

Recorded per sample, not once in the metadata, because the safety guard drives them through updateVelocityLimits / updateVelocityFactor while the request runs – so a snapshot taken at dump time shows whatever they were restored to and an episode that was slowed down or stopped by the guard is indistinguishable from one that was not.

Definition at line 161 of file Diagnostics.h.

◆ orientationError

float orientationError {0.F}

Definition at line 135 of file Diagnostics.h.

◆ positionError

float positionError {0.F}

Distance to the last trajectory point, which is what the controller calls positionError.

The cross-track error is hypot(x - refX, y - refY).

Definition at line 134 of file Diagnostics.h.

◆ projectionIndex

std::uint32_t projectionIndex {0}

Definition at line 129 of file Diagnostics.h.

◆ refVelocity

float refVelocity {0.F}

Definition at line 127 of file Diagnostics.h.

◆ refX

float refX {0.F}

The trajectory point the controller projected onto – the reference it is tracking.

Definition at line 124 of file Diagnostics.h.

◆ refY

float refY {0.F}

Definition at line 125 of file Diagnostics.h.

◆ refYaw

float refYaw {0.F}

Definition at line 126 of file Diagnostics.h.

◆ sequence

std::uint64_t sequence {0}

Definition at line 114 of file Diagnostics.h.

◆ timestampUs

std::int64_t timestampUs {0}

Definition at line 112 of file Diagnostics.h.

◆ trajectoryRevision

std::uint64_t trajectoryRevision {0}

Which trajectory this cycle tracked. Indexes trajectory.json.

Definition at line 117 of file Diagnostics.h.

◆ velocityFactor

float velocityFactor {1.F}

Definition at line 163 of file Diagnostics.h.

◆ vFiltX

float vFiltX {0.F}

After the low-pass, i.e. what was handed to the real-time thread.

Definition at line 152 of file Diagnostics.h.

◆ vFiltY

float vFiltY {0.F}

Definition at line 153 of file Diagnostics.h.

◆ vRawX

float vRawX {0.F}

The controller's own output, base frame, before the alpha low-pass.

Definition at line 147 of file Diagnostics.h.

◆ vRawY

float vRawY {0.F}

Definition at line 148 of file Diagnostics.h.

◆ wFilt

float wFilt {0.F}

Definition at line 154 of file Diagnostics.h.

◆ wRaw

float wRaw {0.F}

Definition at line 149 of file Diagnostics.h.

◆ x

float x {0.F}

Definition at line 119 of file Diagnostics.h.

◆ y

float y {0.F}

Definition at line 120 of file Diagnostics.h.

◆ yaw

float yaw {0.F}

Definition at line 121 of file Diagnostics.h.

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

armarx/navigation/platform_controller/Diagnostics.h

Public Attributes