paths.hpp File Reference

Named-path registry. More...

#include <vector>
#include "LightLib/path/ramsete.hpp"

Go to the source code of this file.

Namespaces
namespace	light
	Public LightLib odometry / pose-estimation API.

Functions
bool	light::runPath (const char *name, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f)
	Run a registered path by name.
bool	light::runPath (const char *name, std::vector< PathEvent > events, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f)
	Variant accepting mid-path event triggers.

Detailed Description

Named-path registry.

Wraps light::runJerryioPath so autons can run a path by name:

light::runPath("test_path");

Adding a new path

1. Drop a header into include/paths/ with a constexpr const char* named after the path. E.g. include/paths/red_left.hpp:

   namespace light::paths {
   inline constexpr const char* red_left = R"JERRYIO(
     ...paste Jerryio export here...
   )JERRYIO";
   }

2. Register it in include/paths/all.hpp — add one #include and one row to the kAll[] table. No edits to paths.cpp required.

Lookup is O(N) string-compare against kAll — fine for the small path counts a single robot carries. Unknown names printf a warning and return false without invoking the follower.

Definition in file paths.hpp.