ControlSample Struct Reference

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.

Member Data Documentation

cappedFfVelocity

float cappedFfVelocity {0.F}

currentOrientation

float currentOrientation {0.F}

desiredOrientation

float desiredOrientation {0.F}

episode

std::uint64_t episode {0}

ffAngular

float ffAngular {0.F}

ffSaturated

bool ffSaturated {false}

finalSegment

bool finalSegment {false}

guard

std::int32_t guard {0}

traj_ctrl::global::GuardVerdict as an integer.

limitAngular

float limitAngular {0.F}

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.

orientationError

float orientationError {0.F}

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).

projectionIndex

std::uint32_t projectionIndex {0}

refVelocity

float refVelocity {0.F}

refX

float refX {0.F}

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

refY

float refY {0.F}

refYaw

float refYaw {0.F}

sequence

std::uint64_t sequence {0}

timestampUs

std::int64_t timestampUs {0}

trajectoryRevision

std::uint64_t trajectoryRevision {0}

Which trajectory this cycle tracked. Indexes trajectory.json.

velocityFactor

float velocityFactor {1.F}

vFiltX

float vFiltX {0.F}

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

vFiltY

float vFiltY {0.F}

vRawX

float vRawX {0.F}

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

vRawY

float vRawY {0.F}

wFilt

float wFilt {0.F}

wRaw

float wRaw {0.F}

x

float x {0.F}

y

float y {0.F}

yaw

float yaw {0.F}

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

• armarx/navigation/platform_controller/Diagnostics.h