kinematicbase

type KinematicBase interface {
	base.Base
	motion.Localizer
	referenceframe.InputEnabled

	Kinematics() referenceframe.Frame
	// ErrorState takes a complete motionplan, as well as the index of the currently-executing set of inputs, and computes the pose
	// difference between where the robot in fact is, and where it ought to be.
	ErrorState(context.Context) (spatialmath.Pose, error)
}

type Options struct {
	// LinearVelocityMMPerSec is the linear velocity the base will drive at in mm/s
	LinearVelocityMMPerSec float64

	// AngularVelocityMMPerSec is the angular velocity the base will turn with in deg/s
	AngularVelocityDegsPerSec float64

	// GoalRadiusMM is used when the base is moving to a goal. It is considered successful if it is within this radius.
	GoalRadiusMM float64

	// HeadingThresholdDegrees is used when the base is moving to a goal.
	// If its heading is within this angle it is considered to be on the correct path.
	HeadingThresholdDegrees float64

	// PlanDeviationThresholdMM is the amount that the base is allowed to deviate from the straight line path it is intended to travel.
	// If it ever exceeds this amount the movement will fail and an error will be returned.
	PlanDeviationThresholdMM float64

	// Timeout is the maximum amount of time that the base is allowed to remain stationary during a movement, else an error is thrown.
	Timeout time.Duration

	// MinimumMovementThresholdMM is the amount that a base needs to move for it not to be considered stationary.
	MinimumMovementThresholdMM float64

	// MaxMoveStraightMM is the maximum distance the base should move with a single MoveStraight command.
	// used to break up large driving segments to prevent error from building up due to slightly incorrect angle.
	MaxMoveStraightMM float64

	// MaxSpinAngleDeg is the maximum amount of degrees the base should turn with a single Spin command.
	// used to break up large turns into smaller chunks to prevent error from building up.
	MaxSpinAngleDeg float64

	// PositionOnlyMode defines whether motion planning should be done in 2DOF or 3DOF.
	// If value is true, planning is done in [x,y]. If value is false, planning is done in [x,y,theta].
	PositionOnlyMode bool

	// UsePTGs defines whether motion planning should plan using PTGs.
	UsePTGs bool

	// NoSkidSteer defines whether motion planning should plan for diff drive bases using skid steer. If true, it will plan using
	// only rotations and straight lines. Not used if turning radius > 0, or if UsePTGs is false.
	NoSkidSteer bool
}