24 lines
791 B
C++
24 lines
791 B
C++
/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "okapi/api/units/QAngle.hpp"
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#include "okapi/api/units/QLength.hpp"
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namespace okapi {
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struct PathfinderPoint {
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QLength x; // X coordinate relative to the start of the movement
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QLength y; // Y coordinate relative to the start of the movement
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QAngle theta; // Exit angle relative to the start of the movement
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};
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struct PathfinderLimits {
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double maxVel; // Maximum robot velocity in m/s
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double maxAccel; // Maximum robot acceleration in m/s/s
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double maxJerk; // Maximum robot jerk in m/s/s/s
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};
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} // namespace okapi
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