21#include "modules/common_msgs/chassis_msgs/chassis.pb.h"
22#include "modules/data/tools/smart_recorder/proto/smart_recorder_triggers.pb.h"
44 bool IsSwerve()
const;
45 bool IsNoisy(
const float steer)
const;
46 void EnqueueMessage(
const float steer);
49 const size_t queue_size_ = 10;
50 const float max_delta_ = 10.0f;
51 const float noisy_diff_ = 20.0f;
52 std::deque<float> history_steer_queue_;
53 std::deque<float> current_steer_queue_;
Swerve trigger that fires when swerve is engaged
bool ShouldRestore(const cyber::record::RecordMessage &msg) const override
void Pull(const cyber::record::RecordMessage &msg) override
virtual ~SwerveTrigger()=default
Base class of triggers that defines interfaces
Basic data struct of record message.