32 lines
1.1 KiB
C#
32 lines
1.1 KiB
C#
namespace RobotNet10.NavigationTune.Shared.Models;
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/// <summary>
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/// Navigation phase for telemetry segmentation.
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/// </summary>
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public enum TelemetryPhase
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{
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InitialRotation = 0,
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PathFollowing = 1,
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FinalApproach = 2,
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FinalRotation = 3,
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Completed = 4
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}
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/// <summary>
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/// Telemetry data collected during test execution
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/// </summary>
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public class TelemetryData
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{
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public long TimestampMs { get; set; }
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public Pose2D RobotPose { get; set; } // X, Y, Theta
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public Twist2D RobotTwist { get; set; } // Linear, Angular velocity (estimated)
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public Twist2D CommandTwist { get; set; } // Linear, Angular velocity (commanded)
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public Pose2D ReferencePose { get; set; } // Closest point on reference path
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public double CrossTrackError { get; set; } // meters
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public double HeadingError { get; set; } // radians
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public double LookaheadDistance { get; set; } // meters
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public double ModelConfidence { get; set; } // 0.0 - 1.0
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public double DistanceToGoal { get; set; } // meters
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public TelemetryPhase? Phase { get; set; } // Navigation phase (null for legacy data)
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}
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