light::TrajState Struct Reference

One sample of a time-parameterized trajectory. More...

#include <trajectory.hpp>

Public Attributes
float	t = 0.0f
	Time from start, seconds.
float	x = 0.0f
	X position, inches.
float	y = 0.0f
	Y position, inches.
float	theta = 0.0f
	Heading, radians (LightLib convention).
float	v = 0.0f
	Linear speed, in/s (signed if reversed).
float	omega = 0.0f
	Angular velocity, rad/s (v·κ, sign-matched).
float	a = 0.0f
	Linear accel, in/s² (signed).
float	kappa = 0.0f
	Curvature, 1/in (signed, CW-positive).

Detailed Description

One sample of a time-parameterized trajectory.

Definition at line 31 of file trajectory.hpp.

Member Data Documentation

a

float light::TrajState::a = 0.0f

Linear accel, in/s² (signed).

Definition at line 38 of file trajectory.hpp.

kappa

float light::TrajState::kappa = 0.0f

Curvature, 1/in (signed, CW-positive).

Definition at line 39 of file trajectory.hpp.

omega

float light::TrajState::omega = 0.0f

Angular velocity, rad/s (v·κ, sign-matched).

Definition at line 37 of file trajectory.hpp.

t

float light::TrajState::t = 0.0f

Time from start, seconds.

Definition at line 32 of file trajectory.hpp.

theta

float light::TrajState::theta = 0.0f

Heading, radians (LightLib convention).

Definition at line 35 of file trajectory.hpp.

v

float light::TrajState::v = 0.0f

Linear speed, in/s (signed if reversed).

Definition at line 36 of file trajectory.hpp.

x

float light::TrajState::x = 0.0f

X position, inches.

Definition at line 33 of file trajectory.hpp.

y

float light::TrajState::y = 0.0f

Y position, inches.

Definition at line 34 of file trajectory.hpp.

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

• include/LightLib/path/trajectory.hpp