Robot Movement + Prototyping (Movement.cpp)

Unified robot locomotion with manual primitives, scripted prototypes, and RL / assist modes. Actuates through ROS `cmd_vel` when connected; otherwise (or with dry-run) uses an internal unicycle simulator.

Modes

Mode	Behavior
off	Idle (manual set-twist still allowed when called explicitly)
assist	Blend heuristic + RL by movement_assist_blend
prototype	Play scripted movement sequences
train	Online Q-table + linear DQN updates
eval	Greedy policy

Algorithms

manual · heuristic · qtable · dqn · auto

Backends

simulate · ros · auto (ROS if _ROS::Connected())

Discrete RL actions (12)

stop, forward, back, left, right, forward_left, forward_right, slow_forward, reverse_left, reverse_right, spin_ccw, spin_cw

Prototypes

square · circle · figure8 · spin_scan · dock_approach · obstacle_probe · stop_go · zig_zag · backup_turn · soft_start_stop · strafe_box · idle

Commands

[text]
movement help
movement status
movement mode assist|prototype|train|eval|off
movement algorithm heuristic|qtable|dqn|auto|manual
movement backend simulate|ros|auto
movement dry-run on
movement shield on
movement assist 0.4

movement stop
movement forward 0.3
movement left 0.5
movement vel 0.2 0.1

movement goal 2.0 1.0
movement path demo
movement path from 0 0 to 9 9

movement proto list
movement proto square
movement proto circle 2
movement proto status
movement proto cancel

movement tick 20
movement train 200
movement save
movement load
movement features
movement actions
movement explain
movement dashboard

Aliases: robot …, move …

Safety

Obstacle stop distance: movement_obstacle_stop_m (uses depth occupancy when available)
Defaults: dry-run on, shield on — safe for first runs without a robot

Checkpoints

File: C:/_AugmentedIntelligence/movement_logs/movement_rl_checkpoint.txt
MySQL: rl_agent_net_checkpoints profile movement_<profile> when movement_checkpoint_mysql_enabled=true

Settings

[text]
movement_enabled
movement_dry_run
movement_safety_shield
movement_default_linear / movement_default_angular
movement_max_linear / movement_max_angular
movement_assist_blend
movement_obstacle_stop_m
movement_checkpoint_mysql_enabled
movement_checkpoint_profile

Integration

ROS: _ROS::PublishTwist
Path: _Pathfinding::aStar
Depth: _DepthOccupancyEstimator
Portal: included in portal export RL section as movement

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