API reference

VantagePath is a C++17 library. Include the complete public API with:

#include <vantage/vantage.hpp>

All distances, velocities, and accelerations must use one consistent unit system. The examples use metres and seconds. Angles and angular rates are always radians and radians per second.

Modules

Module	Purpose
Geometry	Poses, angle wrapping, interpolation, and robot-frame error
Trajectory	Quintic paths and constraint-aware time parameterization
Control	Differential-drive kinematics, pose feedback, feedforward, and wheel PID
Odometry	Encoder and gyro integration on SE(2)
Sensor Fusion & PROS	Fault-tolerant encoders, dual IMUs, and built-in V5 adapters
Follower	End-to-end trajectory execution, termination, and diagnostics

Execution model

Generate trajectories before the time-critical autonomous period. During autonomous, call TrajectoryFollower::update() from one fixed-period task and apply both returned voltages in that same tick. The caller owns sensors, motor I/O, timing, logging, and the autonomous state machine.

Lifetime requirement

TrajectoryFollower::start() stores a pointer to the supplied Trajectory. Keep that trajectory alive until the follower finishes or is cancelled.