5 * A structure describing various constraints used during calculation
8 struct TrajectoryConstraints {
9 double maxv; ///< maximal speed
10 double maxomega; ///< maximal angular speed
11 double maxangacc; ///< maximal angular acceleration (for ::TrajectorySegmentTurn)
12 double maxacc; ///< maximal acceleration
13 double maxcenacc; ///< maximal centripetal acceleration
14 double maxe; ///< maximal trajectory error for Trajectory::corners2arcs()
19 FH_CW, /* Clockwise */
20 FH_CCW, /* Counter-clockwise */
21 FH_SHORTEST, /* Shortest turn */
24 struct final_heading {
25 enum turn_type turn_type;
26 float heading; /* Heading in rad */