Struct SerestController::Projection

Defined in File SerestController.hpp

Nested Relationships

This struct is a nested type of Class SerestController.

Struct Documentation

struct Projection

Projection of robot onto the active path segment.

Public Members

size_t seg_idx = {0}: Current segment index [i, i+1].

double s_star = {0.0}: Arc-length at the closest point.

Vec2 closest = {0.0, 0.0}: Closest point coordinates on the path.

double t = {0.0}: Segment parameter in [0,1].