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include/okapi/api/control/util/pathfinderUtil.hpp

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+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "okapi/api/units/QAngle.hpp"
+#include "okapi/api/units/QLength.hpp"
+
+namespace okapi {
+struct PathfinderPoint {
+  QLength x;    // X coordinate relative to the start of the movement
+  QLength y;    // Y coordinate relative to the start of the movement
+  QAngle theta; // Exit angle relative to the start of the movement
+};
+
+struct PathfinderLimits {
+  double maxVel;   // Maximum robot velocity in m/s
+  double maxAccel; // Maximum robot acceleration in m/s/s
+  double maxJerk;  // Maximum robot jerk in m/s/s/s
+};
+} // namespace okapi