Namespaces
namespace	detail

namespace	err

namespace	filesystem
	WPILib FileSystem namespace.

namespace	impl

namespace	internal

namespace	sim

namespace	sysid

namespace	warn

Classes
class	AddressableLED
	A class for driving addressable LEDs, such as WS2812B, WS2815, and NeoPixels. More...

class	ADXL345_I2C
	ADXL345 Accelerometer on I2C. More...

class	Alert
	Persistent alert to be sent via NetworkTables. More...

class	AnalogAccelerometer
	Handle operation of an analog accelerometer. More...

class	AnalogEncoder
	Class for supporting continuous analog encoders, such as the US Digital MA3. More...

class	AnalogGyro
	Use a rate gyro to return the robots heading relative to a starting position. More...

class	AnalogInput
	Analog input class. More...

class	AnalogPotentiometer
	Class for reading analog potentiometers. More...

struct	AprilTag
	Represents an AprilTag's metadata. More...

class	AprilTagDetection
	A detection of an AprilTag tag. More...

class	AprilTagDetector
	An AprilTag detector engine. More...

class	AprilTagFieldLayout
	Class for representing a layout of AprilTags on a field and reading them from a JSON format. More...

struct	AprilTagPoseEstimate
	A pair of AprilTag pose estimates. More...

class	AprilTagPoseEstimator
	Pose estimators for AprilTag tags. More...

class	ArmFeedforward
	A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting against the force of gravity on a beam suspended at an angle). More...

class	BangBangController
	Implements a bang-bang controller, which outputs either 0 or 1 depending on whether the measurement is less than the setpoint. More...

class	BooleanEvent
	This class provides an easy way to link actions to active high logic signals. More...

class	CameraServer
	Singleton class for creating and keeping camera servers. More...

class	CameraServerShared

class	CAN
	High level class for interfacing with CAN devices conforming to the standard CAN spec. More...

struct	CANStatus

class	CentripetalAccelerationConstraint
	A constraint on the maximum absolute centripetal acceleration allowed when traversing a trajectory. More...

struct	ChassisSpeeds
	Represents the speed of a robot chassis. More...

class	Color
	Represents colors that can be used with Addressable LEDs. More...

class	Color8Bit
	Represents colors that can be used with Addressable LEDs. More...

class	Compressor
	Class for operating a compressor connected to a pneumatics module. More...

class	ControlAffinePlantInversionFeedforward
	Constructs a control-affine plant inversion model-based feedforward from given model dynamics. More...

class	CoordinateAxis
	A class representing a coordinate system axis within the NWU coordinate system. More...

class	CoordinateSystem
	A helper class that converts Pose3d objects between different standard coordinate frames. More...

class	CounterBase
	Interface for counting the number of ticks on a digital input channel. More...

class	ct_matrix
	Compile-time wrapper for Eigen::Matrix. More...

class	CubicHermiteSpline
	Represents a hermite spline of degree 3. More...

class	DataLogManager
	Centralized data log that provides automatic data log file management. More...

class	DCMotor
	Holds the constants for a DC motor. More...

class	Debouncer
	A simple debounce filter for boolean streams. More...

class	DifferentialDrive
	A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive base, "tank drive", or West Coast Drive. More...

class	DifferentialDriveAccelerationLimiter
	Filters the provided voltages to limit a differential drive's linear and angular acceleration. More...

class	DifferentialDriveFeedforward
	A helper class which computes the feedforward outputs for a differential drive drivetrain. More...

class	DifferentialDriveKinematics
	Helper class that converts a chassis velocity (dx and dtheta components) to left and right wheel velocities for a differential drive. More...

class	DifferentialDriveKinematicsConstraint
	A class that enforces constraints on the differential drive kinematics. More...

class	DifferentialDriveOdometry
	Class for differential drive odometry. More...

class	DifferentialDriveOdometry3d
	Class for differential drive odometry. More...

class	DifferentialDrivePoseEstimator
	This class wraps Differential Drive Odometry to fuse latency-compensated vision measurements with differential drive encoder measurements. More...

class	DifferentialDrivePoseEstimator3d
	This class wraps Differential Drive Odometry to fuse latency-compensated vision measurements with differential drive encoder measurements. More...

class	DifferentialDriveVoltageConstraint
	A class that enforces constraints on differential drive voltage expenditure based on the motor dynamics and the drive kinematics. More...

struct	DifferentialDriveWheelPositions
	Represents the wheel positions for a differential drive drivetrain. More...

struct	DifferentialDriveWheelSpeeds
	Represents the wheel speeds for a differential drive drivetrain. More...

struct	DifferentialDriveWheelVoltages
	Motor voltages for a differential drive. More...

class	DigitalInput
	Class to read a digital input. More...

class	DigitalOutput
	Class to write to digital outputs. More...

class	DMC60
	Digilent DMC 60 Motor Controller with PWM control. More...

class	DoubleSolenoid
	DoubleSolenoid class for running 2 channels of high voltage Digital Output on a pneumatics module. More...

class	DriverStation
	Provide access to the network communication data to / from the Driver Station. More...

class	DSControlWord
	A wrapper around Driver Station control word. More...

class	DutyCycle
	Class to read a duty cycle PWM input. More...

class	DutyCycleEncoder
	Class for supporting duty cycle/PWM encoders, such as the US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder. More...

class	ElevatorFeedforward
	A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting against the force of gravity). More...

class	Ellipse2d
	Represents a 2d ellipse space containing translational, rotational, and scaling components. More...

class	EllipticalRegionConstraint
	Enforces a particular constraint only within an elliptical region. More...

class	Encoder
	Class to read quad encoders. More...

class	EventLoop
	A declarative way to bind a set of actions to a loop and execute them when the loop is polled. More...

class	ExponentialProfile
	A Exponential-shaped velocity profile. More...

class	ExtendedKalmanFilter
	A Kalman filter combines predictions from a model and measurements to give an estimate of the true system state. More...

class	Field2d
	2D representation of game field for dashboards. More...

class	FieldObject2d
	Game field object on a Field2d. More...

class	GenericHID
	Handle input from standard HID devices connected to the Driver Station. More...

class	HolonomicDriveController
	This holonomic drive controller can be used to follow trajectories using a holonomic drivetrain (i.e. More...

class	I2C
	I2C bus interface class. More...

class	ImplicitModelFollower
	Contains the controller coefficients and logic for an implicit model follower. More...

class	IterativeRobotBase
	IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase class. More...

class	Jaguar
	Luminary Micro / Vex Robotics Jaguar Motor Controller with PWM control. More...

class	Joystick
	Handle input from standard Joysticks connected to the Driver Station. More...

class	KalmanFilter
	A Kalman filter combines predictions from a model and measurements to give an estimate of the true system state. More...

class	KalmanFilterLatencyCompensator
	This class incorporates time-delayed measurements into a Kalman filter's state estimate. More...

class	Kinematics
	Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel speeds. More...

class	Koors40
	AndyMark Koors40 Motor Controller with PWM control. More...

class	LEDPattern

class	LinearFilter
	This class implements a linear, digital filter. More...

class	LinearPlantInversionFeedforward
	Constructs a plant inversion model-based feedforward from a LinearSystem. More...

class	LinearQuadraticRegulator
	Contains the controller coefficients and logic for a linear-quadratic regulator (LQR). More...

class	LinearSystem
	A plant defined using state-space notation. More...

class	LinearSystemId
	Linear system ID utility functions. More...

class	LinearSystemLoop
	Combines a controller, feedforward, and observer for controlling a mechanism with full state feedback. More...

class	LTVDifferentialDriveController
	The linear time-varying differential drive controller has a similar form to the LQR, but the model used to compute the controller gain is the nonlinear differential drive model linearized around the drivetrain's current state. More...

class	LTVUnicycleController
	The linear time-varying unicycle controller has a similar form to the LQR, but the model used to compute the controller gain is the nonlinear unicycle model linearized around the drivetrain's current state. More...

class	MaxVelocityConstraint
	Represents a constraint that enforces a max velocity. More...

class	MecanumDrive
	A class for driving Mecanum drive platforms. More...

class	MecanumDriveKinematics
	Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel speeds. More...

class	MecanumDriveKinematicsConstraint
	A class that enforces constraints on the mecanum drive kinematics. More...

class	MecanumDriveOdometry
	Class for mecanum drive odometry. More...

class	MecanumDriveOdometry3d
	Class for mecanum drive odometry. More...

class	MecanumDrivePoseEstimator
	This class wraps Mecanum Drive Odometry to fuse latency-compensated vision measurements with mecanum drive encoder velocity measurements. More...

class	MecanumDrivePoseEstimator3d
	This class wraps Mecanum Drive Odometry to fuse latency-compensated vision measurements with mecanum drive encoder velocity measurements. More...

struct	MecanumDriveWheelPositions
	Represents the wheel positions for a mecanum drive drivetrain. More...

struct	MecanumDriveWheelSpeeds
	Represents the wheel speeds for a mecanum drive drivetrain. More...

class	Mechanism2d
	Visual 2D representation of arms, elevators, and general mechanisms through a node-based API. More...

class	MechanismLigament2d
	Ligament node on a Mechanism2d. More...

class	MechanismObject2d
	Common base class for all Mechanism2d node types. More...

class	MechanismRoot2d
	Root Mechanism2d node. More...

class	MedianFilter
	A class that implements a moving-window median filter. More...

class	MerweScaledSigmaPoints
	Generates sigma points and weights according to Van der Merwe's 2004 dissertation[1] for the UnscentedKalmanFilter class. More...

class	MotorController
	Interface for motor controlling devices. More...

class	MotorControllerGroup
	Allows multiple MotorController objects to be linked together. More...

class	MotorSafety
	The Motor Safety feature acts as a watchdog timer for an individual motor. More...

class	NetworkBooleanEvent
	A Button that uses a NetworkTable boolean field. More...

class	Notifier
	Notifiers run a user-provided callback function on a separate thread. More...

class	Odometry
	Class for odometry. More...

class	Odometry3d
	Class for odometry. More...

class	OnboardIMU
	SystemCore onboard IMU. More...

class	OnBoardIO
	This class represents the onboard IO of the Romi reference robot. More...

class	PIDController
	Implements a PID control loop. More...

class	PneumaticHub
	Module class for controlling a REV Robotics Pneumatic Hub. More...

class	PneumaticsBase
	Base class for pneumatics devices. More...

class	PneumaticsControlModule
	Module class for controlling a Cross The Road Electronics Pneumatics Control Module. More...

class	Pose2d
	Represents a 2D pose containing translational and rotational elements. More...

class	Pose3d
	Represents a 3D pose containing translational and rotational elements. More...

class	PoseEstimator
	This class wraps odometry to fuse latency-compensated vision measurements with encoder measurements. More...

class	PoseEstimator3d
	This class wraps odometry to fuse latency-compensated vision measurements with encoder measurements. More...

class	PowerDistribution
	Class for getting voltage, current, temperature, power and energy from the CTRE Power Distribution Panel (PDP) or REV Power Distribution Hub (PDH). More...

class	Preferences
	The preferences class provides a relatively simple way to save important values to the roboRIO to access the next time the roboRIO is booted. More...

class	ProfiledPIDController
	Implements a PID control loop whose setpoint is constrained by a trapezoid profile. More...

class	PS4Controller
	Handle input from PS4 controllers connected to the Driver Station. More...

class	PS5Controller
	Handle input from PS5 controllers connected to the Driver Station. More...

class	PWM
	Class implements the PWM generation in the FPGA. More...

class	PWMMotorController
	Common base class for all PWM Motor Controllers. More...

class	PWMSparkFlex
	REV Robotics SPARK Flex Motor Controller with PWM control. More...

class	PWMSparkMax
	REV Robotics SPARK MAX Motor Controller with PWM control. More...

class	PWMTalonFX
	Cross the Road Electronics (CTRE) Talon FX Motor Controller with PWM control. More...

class	PWMTalonSRX
	Cross the Road Electronics (CTRE) Talon SRX Motor Controller with PWM control. More...

class	PWMVenom
	Playing with Fusion Venom Motor Controller with PWM control. More...

class	PWMVictorSPX
	Cross the Road Electronics (CTRE) Victor SPX Motor Controller with PWM control. More...

class	Quaternion
	Represents a quaternion. More...

class	QuinticHermiteSpline
	Represents a hermite spline of degree 5. More...

class	Rectangle2d
	Represents a 2d rectangular space containing translational, rotational, and scaling components. More...

class	RectangularRegionConstraint
	Enforces a particular constraint only within a rectangular region. More...

class	Resource
	The Resource class is a convenient way to track allocated resources. More...

class	RobotBase
	Implement a Robot Program framework. More...

class	RobotController

class	RobotDriveBase
	Common base class for drive platforms. More...

class	RobotState
	Robot state utility functions. More...

class	RomiGyro
	Use a rate gyro to return the robots heading relative to a starting position. More...

class	RomiMotor
	RomiMotor. More...

class	Rotation2d
	A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine). More...

class	Rotation3d
	A rotation in a 3D coordinate frame represented by a quaternion. More...

class	RuntimeError
	Runtime error exception. More...

class	S3SigmaPoints
	Generates sigma points and weights according to Papakonstantinou's paper[1] for the UnscentedKalmanFilter class. More...

class	ScopedTracer
	A class for keeping track of how much time it takes for different parts of code to execute. More...

class	SD540
	Mindsensors SD540 Motor Controller with PWM control. More...

class	SendableBuilderImpl
	Implementation detail for SendableBuilder. More...

class	SendableChooser
	The SendableChooser class is a useful tool for presenting a selection of options to the SmartDashboard. More...

class	SendableChooserBase
	This class is a non-template base class for SendableChooser. More...

class	SensorUtil
	Stores most recent status information as well as containing utility functions for checking channels and error processing. More...

class	SerialPort
	Driver for the RS-232 serial port on the roboRIO. More...

class	Servo
	Standard hobby style servo. More...

class	SharpIR

class	SharpIRSim
	Simulation class for Sharp IR sensors. More...

class	SimpleMotorFeedforward
	A helper class that computes feedforward voltages for a simple permanent-magnet DC motor. More...

class	SimulatedAnnealing
	An implementation of the Simulated Annealing stochastic nonlinear optimization method. More...

class	SlewRateLimiter
	A class that limits the rate of change of an input value. More...

class	SmartDashboard

class	Solenoid
	Solenoid class for running high voltage Digital Output on a pneumatics module. More...

class	Spark
	REV Robotics SPARK Motor Controller with PWM control. More...

class	SparkMini
	REV Robotics SPARKMini Motor Controller with PWM control. More...

class	Spline
	Represents a two-dimensional parametric spline that interpolates between two points. More...

class	SplineHelper
	Helper class that is used to generate cubic and quintic splines from user provided waypoints. More...

class	SplineParameterizer
	Class used to parameterize a spline by its arc length. More...

class	StadiaController
	Handle input from Stadia controllers connected to the Driver Station. More...

class	SteadyStateKalmanFilter
	A Kalman filter combines predictions from a model and measurements to give an estimate of the true system state. More...

class	SwerveDriveKinematics
	Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle). More...

class	SwerveDriveKinematicsConstraint
	A class that enforces constraints on the swerve drive kinematics. More...

class	SwerveDriveOdometry
	Class for swerve drive odometry. More...

class	SwerveDriveOdometry3d
	Class for swerve drive odometry. More...

class	SwerveDrivePoseEstimator
	This class wraps Swerve Drive Odometry to fuse latency-compensated vision measurements with swerve drive encoder distance measurements. More...

class	SwerveDrivePoseEstimator3d
	This class wraps Swerve Drive Odometry to fuse latency-compensated vision measurements with swerve drive encoder distance measurements. More...

struct	SwerveModulePosition
	Represents the position of one swerve module. More...

struct	SwerveModuleState
	Represents the state of one swerve module. More...

class	SystemServer

class	Tachometer
	Tachometer for getting rotational speed from a device. More...

class	Talon
	Cross the Road Electronics (CTRE) Talon Motor Controller with PWM control. More...

class	TimedRobot
	TimedRobot implements the IterativeRobotBase robot program framework. More...

class	TimeInterpolatableBuffer
	The TimeInterpolatableBuffer provides an easy way to estimate past measurements. More...

class	Timer
	A timer class. More...

class	TimesliceRobot
	TimesliceRobot extends the TimedRobot robot program framework to provide timeslice scheduling of periodic functions. More...

class	Tracer
	A class for keeping track of how much time it takes for different parts of code to execute. More...

class	Trajectory
	Represents a time-parameterized trajectory. More...

class	TrajectoryConfig
	Represents the configuration for generating a trajectory. More...

class	TrajectoryConstraint
	An interface for defining user-defined velocity and acceleration constraints while generating trajectories. More...

class	TrajectoryGenerator
	Helper class used to generate trajectories with various constraints. More...

class	TrajectoryParameterizer
	Class used to parameterize a trajectory by time. More...

class	Transform2d
	Represents a transformation for a Pose2d in the pose's frame. More...

class	Transform3d
	Represents a transformation for a Pose3d in the pose's frame. More...

class	Translation2d
	Represents a translation in 2D space. More...

class	Translation3d
	Represents a translation in 3D space. More...

class	TrapezoidProfile
	A trapezoid-shaped velocity profile. More...

class	TravelingSalesman
	Given a list of poses, this class finds the shortest possible route that visits each pose exactly once and returns to the origin pose. More...

struct	Twist2d
	A change in distance along a 2D arc since the last pose update. More...

struct	Twist3d
	A change in distance along a 3D arc since the last pose update. More...

class	UnscentedKalmanFilter
	A Kalman filter combines predictions from a model and measurements to give an estimate of the true system state. More...

class	UpDownCounter
	Up Down Counter. More...

class	Victor
	Vex Robotics Victor 888 Motor Controller with PWM control. More...

class	VictorSP
	Vex Robotics Victor SP Motor Controller with PWM control. More...

class	VisionPipeline
	A vision pipeline is responsible for running a group of OpenCV algorithms to extract data from an image. More...

class	VisionRunner
	A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot code. More...

class	VisionRunnerBase
	Non-template base class for VisionRunner. More...

class	Watchdog
	A class that's a wrapper around a watchdog timer. More...

class	XboxController
	Handle input from Xbox controllers connected to the Driver Station. More...

class	XRPGyro
	Use a rate gyro to return the robots heading relative to a starting position. More...

class	XRPMotor
	XRPMotor. More...

class	XRPOnBoardIO
	This class represents the onboard IO of the XRP reference robot. More...

class	XRPRangefinder
	This class represents the ultrasonic rangefinder on an XRP robot. More...

class	XRPReflectanceSensor
	This class represents the reflectance sensor pair on an XRP robot. More...

class	XRPServo
	XRPServo. More...

Concepts
concept	EigenMatrixLike

concept	SigmaPoints

Typedefs
template<int Size>
using	Vectord = Eigen::Vector<double, Size>

template<int Rows, int Cols, int Options = Eigen::AutoAlign \| ((Rows == 1 && Cols != 1) ? Eigen::RowMajor : (Cols == 1 && Rows != 1) ? Eigen::ColMajor : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION), int MaxRows = Rows, int MaxCols = Cols>
using	Matrixd = Eigen::Matrix<double, Rows, Cols, Options, MaxRows, MaxCols>

template<int States, int Inputs, int Outputs>
using	MerweUKF

template<typename Scalar , int Rows>
using	ct_vector = ct_matrix<Scalar, Rows, 1>

template<typename Scalar , int Cols>
using	ct_row_vector = ct_matrix<Scalar, 1, Cols>

using	ct_matrix2d = ct_matrix<double, 2, 2>

using	ct_matrix3d = ct_matrix<double, 3, 3>

using	ct_vector2d = ct_vector<double, 2>

using	ct_vector3d = ct_vector<double, 3>

template<int States, int Inputs, int Outputs>
using	S3UKF

Enumerations
enum class	AprilTagField { k2022RapidReact , k2023ChargedUp , k2024Crescendo , k2025ReefscapeAndyMark , k2025ReefscapeWelded , kDefaultField = k2025ReefscapeWelded , kNumFields }
	Loadable AprilTag field layouts. More...

enum class	EdgeConfiguration { kRisingEdge = 0 , kFallingEdge = 1 }
	Edge configuration. More...

enum class	CompressorConfigType { Disabled = 0 , Digital = 1 , Analog = 2 , Hybrid = 3 }
	Compressor config type. More...

enum	RuntimeType { kRoboRIO , kRoboRIO2 , kSimulation , kSystemCore }
	Runtime type. More...

enum class	DAREError { QNotSymmetric , QNotPositiveSemidefinite , RNotSymmetric , RNotPositiveDefinite , ABNotStabilizable , ACNotDetectable }
	Errors the DARE solver can encounter. More...

enum class	PneumaticsModuleType { CTREPCM , REVPH }
	Pneumatics module type. More...

Functions
constexpr auto	format_as (AddressableLED::ColorOrder order)

template class	EXPORT_TEMPLATE_DECLARE (WPILIB_DLLEXPORT) KalmanFilter< 1

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const Rotation3d &rotation)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, Rotation3d &rotation)

AprilTagDetector::Results	AprilTagDetect (AprilTagDetector &detector, cv::Mat &image)

CameraServerShared *	GetCameraServerShared ()

const char *	GetErrorMessage (int32_t *code)
	Gets error message string for an error code.

void	ReportErrorV (int32_t status, const char fileName, int lineNumber, const char funcName, fmt::string_view format, fmt::format_args args)
	Reports an error to the driver station (using HAL_SendError).

template<typename... Args>
void	ReportError (int32_t status, const char fileName, int lineNumber, const char funcName, fmt::string_view format, Args &&... args)
	Reports an error to the driver station (using HAL_SendError).

RuntimeError	MakeErrorV (int32_t status, const char fileName, int lineNumber, const char funcName, fmt::string_view format, fmt::format_args args)
	Makes a runtime error exception object.

template<typename... Args>
RuntimeError	MakeError (int32_t status, const char fileName, int lineNumber, const char funcName, fmt::string_view format, Args &&... args)

template<int CovDim, int NumSigmas>
std::tuple< Vectord< CovDim >, Matrixd< CovDim, CovDim > >	SquareRootUnscentedTransform (const Matrixd< CovDim, NumSigmas > &sigmas, const Vectord< NumSigmas > &Wm, const Vectord< NumSigmas > &Wc, std::function< Vectord< CovDim >(const Matrixd< CovDim, NumSigmas > &, const Vectord< NumSigmas > &)> meanFunc, std::function< Vectord< CovDim >(const Vectord< CovDim > &, const Vectord< CovDim > &)> residualFunc, const Matrixd< CovDim, CovDim > &squareRootR)
	Computes unscented transform of a set of sigma points and weights.

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const Translation2d &state)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, Translation2d &state)

int	RunHALInitialization ()

template<class Robot >
int	StartRobot ()

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const Pose2d &pose)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, Pose2d &pose)

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const Quaternion &quaternion)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, Quaternion &quaternion)

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const Pose3d &pose)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, Pose3d &pose)

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const AprilTagFieldLayout &layout)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, AprilTagFieldLayout &layout)

WPILIB_DLLEXPORT AprilTagFieldLayout	LoadAprilTagLayoutField (AprilTagField field)
	Loads an AprilTagFieldLayout from a predefined field.

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const Trajectory::State &state)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, Trajectory::State &state)

WPILIB_DLLEXPORT constexpr frc::Pose3d	ObjectToRobotPose (const frc::Pose3d &objectInField, const frc::Transform3d &cameraToObject, const frc::Transform3d &robotToCamera)
	Returns the robot's pose in the field coordinate system given an object's field-relative pose, the transformation from the camera's pose to the object's pose (obtained via computer vision), and the transformation from the robot's pose to the camera's pose.

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const AprilTag &apriltag)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, AprilTag &apriltag)

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const Rotation2d &rotation)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, Rotation2d &rotation)

constexpr std::string_view	to_string (const DAREError &error)
	Converts the given DAREError enum to a string.

template<int States, int Inputs>
wpi::expected< Eigen::Matrix< double, States, States >, DAREError >	DARE (const Eigen::Matrix< double, States, States > &A, const Eigen::Matrix< double, States, Inputs > &B, const Eigen::Matrix< double, States, States > &Q, const Eigen::Matrix< double, Inputs, Inputs > &R, bool checkPreconditions=true)
	Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation:

template<int States, int Inputs>
wpi::expected< Eigen::Matrix< double, States, States >, DAREError >	DARE (const Eigen::Matrix< double, States, States > &A, const Eigen::Matrix< double, States, Inputs > &B, const Eigen::Matrix< double, States, States > &Q, const Eigen::Matrix< double, Inputs, Inputs > &R, const Eigen::Matrix< double, States, Inputs > &N, bool checkPreconditions=true)
	Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation:

template<typename Derived > requires std::derived_from<Derived, Eigen::MatrixBase<Derived>>
	ct_matrix (const Derived &) -> ct_matrix< typename Derived::Scalar, Derived::RowsAtCompileTime, Derived::ColsAtCompileTime >

template<int States>
Vectord< States >	AngleResidual (const Vectord< States > &a, const Vectord< States > &b, int angleStateIdx)
	Subtracts a and b while normalizing the resulting value in the selected row as if it were an angle.

template<int States>
std::function< Vectord< States >(const Vectord< States > &, const Vectord< States > &)>	AngleResidual (int angleStateIdx)
	Returns a function that subtracts two vectors while normalizing the resulting value in the selected row as if it were an angle.

template<int States>
Vectord< States >	AngleAdd (const Vectord< States > &a, const Vectord< States > &b, int angleStateIdx)
	Adds a and b while normalizing the resulting value in the selected row as an angle.

template<int States>
std::function< Vectord< States >(const Vectord< States > &, const Vectord< States > &)>	AngleAdd (int angleStateIdx)
	Returns a function that adds two vectors while normalizing the resulting value in the selected row as an angle.

template<int CovDim, int NumSigmas>
Vectord< CovDim >	AngleMean (const Matrixd< CovDim, NumSigmas > &sigmas, const Vectord< NumSigmas > &Wm, int angleStatesIdx)
	Computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row.

template<int CovDim, int NumSigmas>
std::function< Vectord< CovDim >(const Matrixd< CovDim, NumSigmas > &, const Vectord< NumSigmas > &)>	AngleMean (int angleStateIdx)
	Returns a function that computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row.

template<int States>
void	DiscretizeA (const Matrixd< States, States > &contA, units::second_t dt, Matrixd< States, States > *discA)
	Discretizes the given continuous A matrix.

template<int States, int Inputs>
void	DiscretizeAB (const Matrixd< States, States > &contA, const Matrixd< States, Inputs > &contB, units::second_t dt, Matrixd< States, States > discA, Matrixd< States, Inputs > discB)
	Discretizes the given continuous A and B matrices.

template<int States>
void	DiscretizeAQ (const Matrixd< States, States > &contA, const Matrixd< States, States > &contQ, units::second_t dt, Matrixd< States, States > discA, Matrixd< States, States > discQ)
	Discretizes the given continuous A and Q matrices.

template<int Outputs>
Matrixd< Outputs, Outputs >	DiscretizeR (const Matrixd< Outputs, Outputs > &R, units::second_t dt)
	Returns a discretized version of the provided continuous measurement noise covariance matrix.

template<std::same_as< double >... Ts>
constexpr Matrixd< sizeof...(Ts), sizeof...(Ts)>	MakeCostMatrix (Ts... tolerances)
	Creates a cost matrix from the given vector for use with LQR.

template<std::same_as< double >... Ts>
constexpr Matrixd< sizeof...(Ts), sizeof...(Ts)>	MakeCovMatrix (Ts... stdDevs)
	Creates a covariance matrix from the given vector for use with Kalman filters.

template<size_t N>
constexpr Matrixd< N, N >	MakeCostMatrix (const std::array< double, N > &costs)
	Creates a cost matrix from the given vector for use with LQR.

WPILIB_DLLEXPORT Eigen::MatrixXd	MakeCostMatrix (const std::span< const double > costs)
	Creates a cost matrix from the given vector for use with LQR.

template<size_t N>
constexpr Matrixd< N, N >	MakeCovMatrix (const std::array< double, N > &stdDevs)
	Creates a covariance matrix from the given vector for use with Kalman filters.

WPILIB_DLLEXPORT Eigen::MatrixXd	MakeCovMatrix (const std::span< const double > stdDevs)
	Creates a covariance matrix from the given vector for use with Kalman filters.

template<std::same_as< double >... Ts>
Vectord< sizeof...(Ts)>	MakeWhiteNoiseVector (Ts... stdDevs)

template<int N>
Vectord< N >	MakeWhiteNoiseVector (const std::array< double, N > &stdDevs)
	Creates a vector of normally distributed white noise with the given noise intensities for each element.

WPILIB_DLLEXPORT Eigen::VectorXd	MakeWhiteNoiseVector (const std::span< const double > stdDevs)
	Creates a vector of normally distributed white noise with the given noise intensities for each element.

WPILIB_DLLEXPORT constexpr Eigen::Vector3d	PoseTo3dVector (const Pose2d &pose)
	Converts a Pose2d into a vector of [x, y, theta].

WPILIB_DLLEXPORT constexpr Eigen::Vector4d	PoseTo4dVector (const Pose2d &pose)
	Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)].

template<int States, int Inputs>
bool	IsStabilizable (const Matrixd< States, States > &A, const Matrixd< States, Inputs > &B)
	Returns true if (A, B) is a stabilizable pair.

template WPILIB_DLLEXPORT bool	IsStabilizable< 1, 1 > (const Matrixd< 1, 1 > &A, const Matrixd< 1, 1 > &B)

template WPILIB_DLLEXPORT bool	IsStabilizable< 2, 1 > (const Matrixd< 2, 2 > &A, const Matrixd< 2, 1 > &B)

template WPILIB_DLLEXPORT bool	IsStabilizable< Eigen::Dynamic, Eigen::Dynamic > (const Eigen::MatrixXd &A, const Eigen::MatrixXd &B)

template<int States, int Outputs>
bool	IsDetectable (const Matrixd< States, States > &A, const Matrixd< Outputs, States > &C)
	Returns true if (A, C) is a detectable pair.

template WPILIB_DLLEXPORT bool	IsDetectable< Eigen::Dynamic, Eigen::Dynamic > (const Eigen::MatrixXd &A, const Eigen::MatrixXd &C)

WPILIB_DLLEXPORT constexpr Eigen::Vector3d	PoseToVector (const Pose2d &pose)
	Converts a Pose2d into a vector of [x, y, theta].

template<int Inputs>
constexpr Vectord< Inputs >	ClampInputMaxMagnitude (const Vectord< Inputs > &u, const Vectord< Inputs > &umin, const Vectord< Inputs > &umax)
	Clamps input vector between system's minimum and maximum allowable input.

template WPILIB_DLLEXPORT Eigen::VectorXd	ClampInputMaxMagnitude< Eigen::Dynamic > (const Eigen::VectorXd &u, const Eigen::VectorXd &umin, const Eigen::VectorXd &umax)

template<int Inputs>
Vectord< Inputs >	DesaturateInputVector (const Vectord< Inputs > &u, double maxMagnitude)
	Renormalize all inputs if any exceeds the maximum magnitude.

template WPILIB_DLLEXPORT Eigen::VectorXd	DesaturateInputVector< Eigen::Dynamic > (const Eigen::VectorXd &u, double maxMagnitude)

std::string	format_as (Alert::AlertType type)

template<int Rows, int Cols, typename F >
auto	NumericalJacobian (F &&f, const Vectord< Cols > &x)
	Returns numerical Jacobian with respect to x for f(x).

template<typename F >
Eigen::MatrixXd	NumericalJacobian (F &&f, const Eigen::VectorXd &x)
	Returns numerical Jacobian with respect to x for f(x).

template<int Rows, int States, int Inputs, typename F , typename... Args>
auto	NumericalJacobianX (F &&f, const Vectord< States > &x, const Vectord< Inputs > &u, Args &&... args)
	Returns numerical Jacobian with respect to x for f(x, u, ...).

template<typename F , typename... Args>
auto	NumericalJacobianX (F &&f, const Eigen::VectorXd &x, const Eigen::VectorXd &u, Args &&... args)
	Returns numerical Jacobian with respect to x for f(x, u, ...).

template<int Rows, int States, int Inputs, typename F , typename... Args>
auto	NumericalJacobianU (F &&f, const Vectord< States > &x, const Vectord< Inputs > &u, Args &&... args)
	Returns numerical Jacobian with respect to u for f(x, u, ...).

template<typename F , typename... Args>
auto	NumericalJacobianU (F &&f, const Eigen::VectorXd &x, const Eigen::VectorXd &u, Args &&... args)
	Returns numerical Jacobian with respect to u for f(x, u, ...).

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const Translation3d &state)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, Translation3d &state)

template<typename ModuleTranslation , typename... ModuleTranslations>
	SwerveDriveKinematics (ModuleTranslation, ModuleTranslations...) -> SwerveDriveKinematics< 1+sizeof...(ModuleTranslations)>

template<typename T > requires std::is_arithmetic_v<T> \|\| units::traits::is_unit_t_v<T>
constexpr T	ApplyDeadband (T value, T deadband, T maxMagnitude=T{1.0})
	Returns 0.0 if the given value is within the specified range around zero.

template<typename T > requires std::is_arithmetic_v<T> \|\| units::traits::is_unit_t_v<T>
constexpr T	CopySignPow (T value, double exponent, T maxMagnitude=T{1.0})
	Raises the input to the power of the given exponent while preserving its sign.

template<typename T >
constexpr T	InputModulus (T input, T minimumInput, T maximumInput)
	Returns modulus of input.

template<typename T > requires std::is_arithmetic_v<T> \|\| units::traits::is_unit_t_v<T>
constexpr bool	IsNear (T expected, T actual, T tolerance)
	Checks if the given value matches an expected value within a certain tolerance.

template<typename T > requires std::is_arithmetic_v<T> \|\| units::traits::is_unit_t_v<T>
constexpr bool	IsNear (T expected, T actual, T tolerance, T min, T max)
	Checks if the given value matches an expected value within a certain tolerance.

WPILIB_DLLEXPORT constexpr units::radian_t	AngleModulus (units::radian_t angle)
	Wraps an angle to the range -π to π radians (-180 to 180 degrees).

constexpr std::signed_integral auto	FloorDiv (std::signed_integral auto x, std::signed_integral auto y)
	Returns the largest (closest to positive infinity) `int` value that is less than or equal to the algebraic quotient.

constexpr std::signed_integral auto	FloorMod (std::signed_integral auto x, std::signed_integral auto y)
	Returns the floor modulus of the `int` arguments.

constexpr Translation2d	SlewRateLimit (const Translation2d &current, const Translation2d &next, units::second_t dt, units::meters_per_second_t maxVelocity)
	Limits translation velocity.

constexpr Translation3d	SlewRateLimit (const Translation3d &current, const Translation3d &next, units::second_t dt, units::meters_per_second_t maxVelocity)
	Limits translation velocity.

void	Wait (units::second_t seconds)
	Pause the task for a specified time.

units::second_t	GetTime ()
	Gives real-time clock system time with nanosecond resolution.

int	GetThreadPriority (std::thread &thread, bool *isRealTime)
	Get the thread priority for the specified thread.

int	GetCurrentThreadPriority (bool *isRealTime)
	Get the thread priority for the current thread.

bool	SetThreadPriority (std::thread &thread, bool realTime, int priority)
	Sets the thread priority for the specified thread.

bool	SetCurrentThreadPriority (bool realTime, int priority)
	Sets the thread priority for the current thread.

template<typename F , typename T >
T	RK4 (F &&f, T x, units::second_t dt)
	Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt.

template<typename F , typename T , typename U >
T	RK4 (F &&f, T x, U u, units::second_t dt)
	Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.

template<typename F , typename T >
T	RK4 (F &&f, units::second_t t, T y, units::second_t dt)
	Performs 4th order Runge-Kutta integration of dy/dt = f(t, y) for dt.

template<typename F , typename T , typename U >
T	RKDP (F &&f, T x, U u, units::second_t dt, double maxError=1e-6)
	Performs adaptive Dormand-Prince integration of dx/dt = f(x, u) for dt.

template<typename F , typename T >
T	RKDP (F &&f, units::second_t t, T y, units::second_t dt, double maxError=1e-6)
	Performs adaptive Dormand-Prince integration of dy/dt = f(t, y) for dt.

Typedef Documentation

◆ ct_matrix2d

using frc::ct_matrix2d = ct_matrix<double, 2, 2>

◆ ct_matrix3d

using frc::ct_matrix3d = ct_matrix<double, 3, 3>

◆ ct_row_vector

template<typename Scalar , int Cols>

using frc::ct_row_vector = ct_matrix<Scalar, 1, Cols>

◆ ct_vector

template<typename Scalar , int Rows>

using frc::ct_vector = ct_matrix<Scalar, Rows, 1>

◆ ct_vector2d

using frc::ct_vector2d = ct_vector<double, 2>

◆ ct_vector3d

using frc::ct_vector3d = ct_vector<double, 3>

◆ Matrixd

template<int Rows, int Cols, int Options = Eigen::AutoAlign | ((Rows == 1 && Cols != 1) ? Eigen::RowMajor : (Cols == 1 && Rows != 1) ? Eigen::ColMajor : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION), int MaxRows = Rows, int MaxCols = Cols>

using frc::Matrixd = Eigen::Matrix<double, Rows, Cols, Options, MaxRows, MaxCols>

◆ MerweUKF

template<int States, int Inputs, int Outputs>

using frc::MerweUKF

Initial value:

UnscentedKalmanFilter<States, Inputs, Outputs,

MerweScaledSigmaPoints<States>>

◆ S3UKF

template<int States, int Inputs, int Outputs>

using frc::S3UKF

Initial value:

UnscentedKalmanFilter<States, Inputs, Outputs, S3SigmaPoints<States>>

◆ Vectord

template<int Size>

using frc::Vectord = Eigen::Vector<double, Size>

Enumeration Type Documentation

◆ AprilTagField

enum class frc::AprilTagField

strong

Loadable AprilTag field layouts.

Enumerator
k2022RapidReact	2022 Rapid React.
k2023ChargedUp	2023 Charged Up.
k2024Crescendo	2024 Crescendo.
k2025ReefscapeAndyMark	2025 Reefscape AndyMark (see TU12).
k2025ReefscapeWelded	2025 Reefscape Welded (see TU12).
kDefaultField	Alias to the current game.
kNumFields

◆ CompressorConfigType

enum class frc::CompressorConfigType

strong

Compressor config type.

Enumerator
Disabled	Disabled.
Digital	Digital.
Analog	Analog.
Hybrid	Hybrid.

◆ DAREError

enum class frc::DAREError

strong

Errors the DARE solver can encounter.

Enumerator
QNotSymmetric	Q was not symmetric.
QNotPositiveSemidefinite	Q was not positive semidefinite.
RNotSymmetric	R was not symmetric.
RNotPositiveDefinite	R was not positive definite.
ABNotStabilizable	(A, B) pair was not stabilizable.
ACNotDetectable	(A, C) pair where Q = CᵀC was not detectable.

◆ EdgeConfiguration

enum class frc::EdgeConfiguration

strong

Edge configuration.

Enumerator
kRisingEdge	Rising edge configuration.
kFallingEdge	Falling edge configuration.

◆ PneumaticsModuleType

enum class frc::PneumaticsModuleType

strong

Pneumatics module type.

Enumerator
CTREPCM	CTRE PCM.
REVPH	REV PH.

◆ RuntimeType

enum frc::RuntimeType

Runtime type.

Enumerator
kRoboRIO	roboRIO 1.0.
kRoboRIO2	roboRIO 2.0.
kSimulation	Simulation runtime.
kSystemCore

Function Documentation

◆ AngleAdd() [1/2]

template<int States>

Vectord< States > frc::AngleAdd	(	const Vectord< States > &	a,
		const Vectord< States > &	b,
		int	angleStateIdx )

Adds a and b while normalizing the resulting value in the selected row as an angle.

Template Parameters

States Number of states.

Parameters

a	A vector to add with.
b	A vector to add with.
angleStateIdx	The row containing angles to be normalized.

◆ AngleAdd() [2/2]

template<int States>

std::function< Vectord< States >(const Vectord< States > &, const Vectord< States > &)> frc::AngleAdd ( int angleStateIdx )

Returns a function that adds two vectors while normalizing the resulting value in the selected row as an angle.

Template Parameters

States Number of states.

Parameters

angleStateIdx The row containing angles to be normalized.

◆ AngleMean() [1/2]

template<int CovDim, int NumSigmas>

Vectord< CovDim > frc::AngleMean	(	const Matrixd< CovDim, NumSigmas > &	sigmas,
		const Vectord< NumSigmas > &	Wm,
		int	angleStatesIdx )

Computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row.

Template Parameters

CovDim	Dimension of covariance of sigma points after passing through the transform.
NumSigmas	Number of sigma points.

Parameters

sigmas	Sigma points.
Wm	Weights for the mean.
angleStatesIdx	The row containing the angles.

◆ AngleMean() [2/2]

template<int CovDim, int NumSigmas>

std::function< Vectord< CovDim >(const Matrixd< CovDim, NumSigmas > &, const Vectord< NumSigmas > &)> frc::AngleMean ( int angleStateIdx )

Returns a function that computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row.

Template Parameters

CovDim	Dimension of covariance of sigma points after passing through the transform.
NumSigmas	Number of sigma points.

Parameters

angleStateIdx The row containing the angles.

◆ AngleModulus()

WPILIB_DLLEXPORT constexpr units::radian_t frc::AngleModulus ( units::radian_t angle )

constexpr

Wraps an angle to the range -π to π radians (-180 to 180 degrees).

Parameters

angle Angle to wrap.

◆ AngleResidual() [1/2]

template<int States>

Vectord< States > frc::AngleResidual	(	const Vectord< States > &	a,
		const Vectord< States > &	b,
		int	angleStateIdx )

Subtracts a and b while normalizing the resulting value in the selected row as if it were an angle.

Template Parameters

States Number of states.

Parameters

a	A vector to subtract from.
b	A vector to subtract with.
angleStateIdx	The row containing angles to be normalized.

◆ AngleResidual() [2/2]

template<int States>

std::function< Vectord< States >(const Vectord< States > &, const Vectord< States > &)> frc::AngleResidual ( int angleStateIdx )

Returns a function that subtracts two vectors while normalizing the resulting value in the selected row as if it were an angle.

Template Parameters

States Number of states.

Parameters

angleStateIdx The row containing angles to be normalized.

◆ ApplyDeadband()

template<typename T >
requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>

T frc::ApplyDeadband	(	T	value,
		T	deadband,
		T	maxMagnitude = T{1.0} )

constexpr

Returns 0.0 if the given value is within the specified range around zero.

The remaining range between the deadband and the maximum magnitude is scaled from 0.0 to the maximum magnitude.

Parameters

value	Value to clip.
deadband	Range around zero.
maxMagnitude	The maximum magnitude of the input (defaults to 1). Can be infinite.

Returns: The value after the deadband is applied.

◆ AprilTagDetect()

AprilTagDetector::Results frc::AprilTagDetect	(	AprilTagDetector &	detector,
		cv::Mat &	image )

inline

◆ ClampInputMaxMagnitude()

template<int Inputs>

Vectord< Inputs > frc::ClampInputMaxMagnitude	(	const Vectord< Inputs > &	u,
		const Vectord< Inputs > &	umin,
		const Vectord< Inputs > &	umax )

constexpr

Clamps input vector between system's minimum and maximum allowable input.

Template Parameters

Inputs Number of inputs.

Parameters

u	Input vector to clamp.
umin	The minimum input magnitude.
umax	The maximum input magnitude.

Returns: Clamped input vector.

◆ ClampInputMaxMagnitude< Eigen::Dynamic >()

template WPILIB_DLLEXPORT Eigen::VectorXd frc::ClampInputMaxMagnitude< Eigen::Dynamic >	(	const Eigen::VectorXd &	u,
		const Eigen::VectorXd &	umin,
		const Eigen::VectorXd &	umax )

extern

◆ CopySignPow()

template<typename T >
requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>

T frc::CopySignPow	(	T	value,
		double	exponent,
		T	maxMagnitude = T{1.0} )

constexpr

Raises the input to the power of the given exponent while preserving its sign.

The function normalizes the input value to the range [0, 1] based on the maximum magnitude, raises it to the power of the exponent, then scales the result back to the original range and copying the sign. This keeps the value in the original range and gives consistent curve behavior regardless of the input value's scale.

This is useful for applying smoother or more aggressive control response curves (e.g. joystick input shaping).

Parameters

value	The input value to transform.
exponent	The exponent to apply (e.g. 1.0 = linear, 2.0 = squared curve). Must be positive.
maxMagnitude	The maximum expected absolute value of input. Must be positive.

Returns: The transformed value with the same sign and scaled to the input range.

◆ ct_matrix()

template<typename Derived >
requires std::derived_from<Derived, Eigen::MatrixBase<Derived>>

frc::ct_matrix ( const Derived & ) -> ct_matrix< typename Derived::Scalar, Derived::RowsAtCompileTime, Derived::ColsAtCompileTime >

◆ DARE() [1/2]

template<int States, int Inputs>

wpi::expected< Eigen::Matrix< double, States, States >, DAREError > frc::DARE	(	const Eigen::Matrix< double, States, States > &	A,
		const Eigen::Matrix< double, States, Inputs > &	B,
		const Eigen::Matrix< double, States, States > &	Q,
		const Eigen::Matrix< double, Inputs, Inputs > &	R,
		bool	checkPreconditions = true )

Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation:

AᵀXA − X − AᵀXB(BᵀXB + R)⁻¹BᵀXA + Q = 0

Template Parameters

States	Number of states.
Inputs	Number of inputs.

Parameters

A	The system matrix.
B	The input matrix.
Q	The state cost matrix.
R	The input cost matrix.
checkPreconditions	Whether to check preconditions (30% less time if user is sure precondtions are already met).

Returns: Solution to the DARE on success, or DAREError on failure.

◆ DARE() [2/2]

template<int States, int Inputs>

wpi::expected< Eigen::Matrix< double, States, States >, DAREError > frc::DARE	(	const Eigen::Matrix< double, States, States > &	A,
		const Eigen::Matrix< double, States, Inputs > &	B,
		const Eigen::Matrix< double, States, States > &	Q,
		const Eigen::Matrix< double, Inputs, Inputs > &	R,
		const Eigen::Matrix< double, States, Inputs > &	N,
		bool	checkPreconditions = true )

Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation:

AᵀXA − X − (AᵀXB + N)(BᵀXB + R)⁻¹(BᵀXA + Nᵀ) + Q = 0

This is equivalent to solving the original DARE:

A₂ᵀXA₂ − X − A₂ᵀXB(BᵀXB + R)⁻¹BᵀXA₂ + Q₂ = 0

where A₂ and Q₂ are a change of variables:

A₂ = A − BR⁻¹Nᵀ and Q₂ = Q − NR⁻¹Nᵀ

This overload of the DARE is useful for finding the control law uₖ that minimizes the following cost function subject to xₖ₊₁ = Axₖ + Buₖ.

    ∞ [xₖ]ᵀ[Q  N][xₖ]
J = Σ [uₖ] [Nᵀ R][uₖ] ΔT
   k=0

This is a more general form of the following. The linear-quadratic regulator is the feedback control law uₖ that minimizes the following cost function subject to xₖ₊₁ = Axₖ + Buₖ:

    ∞
J = Σ (xₖᵀQxₖ + uₖᵀRuₖ) ΔT
   k=0

This can be refactored as:

    ∞ [xₖ]ᵀ[Q 0][xₖ]
J = Σ [uₖ] [0 R][uₖ] ΔT
   k=0

Template Parameters

States	Number of states.
Inputs	Number of inputs.

Parameters

A	The system matrix.
B	The input matrix.
Q	The state cost matrix.
R	The input cost matrix.
N	The state-input cross cost matrix.
checkPreconditions	Whether to check preconditions (30% less time if user is sure precondtions are already met).

Returns: Solution to the DARE on success, or DAREError on failure.

◆ DesaturateInputVector()

template<int Inputs>

Vectord< Inputs > frc::DesaturateInputVector	(	const Vectord< Inputs > &	u,
		double	maxMagnitude )

Renormalize all inputs if any exceeds the maximum magnitude.

Useful for systems such as differential drivetrains.

Template Parameters

Inputs Number of inputs.

Parameters

u	The input vector.
maxMagnitude	The maximum magnitude any input can have.

Returns: The normalizedInput

◆ DesaturateInputVector< Eigen::Dynamic >()

template WPILIB_DLLEXPORT Eigen::VectorXd frc::DesaturateInputVector< Eigen::Dynamic >	(	const Eigen::VectorXd &	u,
		double	maxMagnitude )

extern

◆ DiscretizeA()

template<int States>

void frc::DiscretizeA	(	const Matrixd< States, States > &	contA,
		units::second_t	dt,
		Matrixd< States, States > *	discA )

Discretizes the given continuous A matrix.

Template Parameters

States Number of states.

Parameters

contA	Continuous system matrix.
dt	Discretization timestep.
discA	Storage for discrete system matrix.

◆ DiscretizeAB()

template<int States, int Inputs>

void frc::DiscretizeAB	(	const Matrixd< States, States > &	contA,
		const Matrixd< States, Inputs > &	contB,
		units::second_t	dt,
		Matrixd< States, States > *	discA,
		Matrixd< States, Inputs > *	discB )

Discretizes the given continuous A and B matrices.

Template Parameters

States	Number of states.
Inputs	Number of inputs.

Parameters

contA	Continuous system matrix.
contB	Continuous input matrix.
dt	Discretization timestep.
discA	Storage for discrete system matrix.
discB	Storage for discrete input matrix.

◆ DiscretizeAQ()

template<int States>

void frc::DiscretizeAQ	(	const Matrixd< States, States > &	contA,
		const Matrixd< States, States > &	contQ,
		units::second_t	dt,
		Matrixd< States, States > *	discA,
		Matrixd< States, States > *	discQ )

Discretizes the given continuous A and Q matrices.

Template Parameters

States Number of states.

Parameters

contA	Continuous system matrix.
contQ	Continuous process noise covariance matrix.
dt	Discretization timestep.
discA	Storage for discrete system matrix.
discQ	Storage for discrete process noise covariance matrix.

◆ DiscretizeR()

template<int Outputs>

Matrixd< Outputs, Outputs > frc::DiscretizeR	(	const Matrixd< Outputs, Outputs > &	R,
		units::second_t	dt )

Returns a discretized version of the provided continuous measurement noise covariance matrix.

Template Parameters

Outputs Number of outputs.

Parameters

R	Continuous measurement noise covariance matrix.
dt	Discretization timestep.

◆ EXPORT_TEMPLATE_DECLARE()

template class template class template class frc::EXPORT_TEMPLATE_DECLARE ( WPILIB_DLLEXPORT )

extern

◆ FloorDiv()

std::signed_integral auto frc::FloorDiv	(	std::signed_integral auto	x,
		std::signed_integral auto	y )

constexpr

Returns the largest (closest to positive infinity) int value that is less than or equal to the algebraic quotient.

Parameters

x	the dividend
y	the divisor

Returns: the largest (closest to positive infinity) int value that is less than or equal to the algebraic quotient.

◆ FloorMod()

std::signed_integral auto frc::FloorMod	(	std::signed_integral auto	x,
		std::signed_integral auto	y )

constexpr

Returns the floor modulus of the int arguments.

The floor modulus is r = x - (floorDiv(x, y) * y), has the same sign as the divisor y or is zero, and is in the range of -std::abs(y) < r < +std::abs(y).

Parameters

x	the dividend
y	the divisor

Returns: the floor modulus x - (floorDiv(x, y) * y)

◆ format_as() [1/2]

auto frc::format_as ( AddressableLED::ColorOrder order )

constexpr

◆ format_as() [2/2]

std::string frc::format_as ( Alert::AlertType type )

◆ from_json() [1/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		AprilTag &	apriltag )

◆ from_json() [2/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		AprilTagFieldLayout &	layout )

◆ from_json() [3/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		Pose2d &	pose )

◆ from_json() [4/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		Pose3d &	pose )

◆ from_json() [5/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		Quaternion &	quaternion )

◆ from_json() [6/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		Rotation2d &	rotation )

◆ from_json() [7/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		Rotation3d &	rotation )

◆ from_json() [8/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		Trajectory::State &	state )

◆ from_json() [9/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		Translation2d &	state )

◆ from_json() [10/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		Translation3d &	state )

◆ GetCameraServerShared()

CameraServerShared * frc::GetCameraServerShared ( )

◆ GetCurrentThreadPriority()

int frc::GetCurrentThreadPriority ( bool * isRealTime )

Get the thread priority for the current thread.

Parameters

isRealTime Set to true if thread is real-time, otherwise false.

Returns: The current thread priority. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is 0. See "man 7 sched" for details.

◆ GetErrorMessage()

const char * frc::GetErrorMessage ( int32_t * code )

Gets error message string for an error code.

◆ GetThreadPriority()

int frc::GetThreadPriority	(	std::thread &	thread,
		bool *	isRealTime )

Get the thread priority for the specified thread.

Parameters

thread	Reference to the thread to get the priority for.
isRealTime	Set to true if thread is real-time, otherwise false.

Returns: The current thread priority. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is 0. See "man 7 sched" for details.

◆ GetTime()

units::second_t frc::GetTime ( )

Gives real-time clock system time with nanosecond resolution.

Returns: The time, just in case you want the robot to start autonomous at 8pm on Saturday.

◆ InputModulus()

template<typename T >

T frc::InputModulus	(	T	input,
		T	minimumInput,
		T	maximumInput )

constexpr

Returns modulus of input.

Parameters

input	Input value to wrap.
minimumInput	The minimum value expected from the input.
maximumInput	The maximum value expected from the input.

◆ IsDetectable()

template<int States, int Outputs>

bool frc::IsDetectable	(	const Matrixd< States, States > &	A,
		const Matrixd< Outputs, States > &	C )

Returns true if (A, C) is a detectable pair.

(A, C) is detectable if and only if the unobservable eigenvalues of A, if any, have absolute values less than one, where an eigenvalue is unobservable if rank([λI - A; C]) < n where n is the number of states.

Template Parameters

States	Number of states.
Outputs	Number of outputs.

Parameters

A	System matrix.
C	Output matrix.

◆ IsDetectable< Eigen::Dynamic, Eigen::Dynamic >()

template WPILIB_DLLEXPORT bool frc::IsDetectable< Eigen::Dynamic, Eigen::Dynamic >	(	const Eigen::MatrixXd &	A,
		const Eigen::MatrixXd &	C )

extern

◆ IsNear() [1/2]

template<typename T >
requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>

bool frc::IsNear	(	T	expected,
		T	actual,
		T	tolerance )

constexpr

Checks if the given value matches an expected value within a certain tolerance.

Parameters

expected	The expected value
actual	The actual value
tolerance	The allowed difference between the actual and the expected value

Returns: Whether or not the actual value is within the allowed tolerance

◆ IsNear() [2/2]

template<typename T >
requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>

bool frc::IsNear	(	T	expected,
		T	actual,
		T	tolerance,
		T	min,
		T	max )

constexpr

Checks if the given value matches an expected value within a certain tolerance.

Supports continuous input for cases like absolute encoders.

Continuous input means that the min and max value are considered to be the same point, and tolerances can be checked across them. A common example would be for absolute encoders: calling isNear(2, 359, 5, 0, 360) returns true because 359 is 1 away from 360 (which is treated as the same as 0) and 2 is 2 away from 0, adding up to an error of 3 degrees, which is within the given tolerance of 5.

Parameters

expected	The expected value
actual	The actual value
tolerance	The allowed difference between the actual and the expected value
min	Smallest value before wrapping around to the largest value
max	Largest value before wrapping around to the smallest value

Returns: Whether or not the actual value is within the allowed tolerance

◆ IsStabilizable()

template<int States, int Inputs>

bool frc::IsStabilizable	(	const Matrixd< States, States > &	A,
		const Matrixd< States, Inputs > &	B )

Returns true if (A, B) is a stabilizable pair.

(A, B) is stabilizable if and only if the uncontrollable eigenvalues of A, if any, have absolute values less than one, where an eigenvalue is uncontrollable if rank([λI - A, B]) < n where n is the number of states.

Template Parameters

States	Number of states.
Inputs	Number of inputs.

Parameters

A	System matrix.
B	Input matrix.

◆ IsStabilizable< 1, 1 >()

template WPILIB_DLLEXPORT bool frc::IsStabilizable< 1, 1 >	(	const Matrixd< 1, 1 > &	A,
		const Matrixd< 1, 1 > &	B )

extern

◆ IsStabilizable< 2, 1 >()

template WPILIB_DLLEXPORT bool frc::IsStabilizable< 2, 1 >	(	const Matrixd< 2, 2 > &	A,
		const Matrixd< 2, 1 > &	B )

extern

◆ IsStabilizable< Eigen::Dynamic, Eigen::Dynamic >()

template WPILIB_DLLEXPORT bool frc::IsStabilizable< Eigen::Dynamic, Eigen::Dynamic >	(	const Eigen::MatrixXd &	A,
		const Eigen::MatrixXd &	B )

extern

◆ LoadAprilTagLayoutField()

WPILIB_DLLEXPORT AprilTagFieldLayout frc::LoadAprilTagLayoutField ( AprilTagField field )

Loads an AprilTagFieldLayout from a predefined field.

Parameters

field The predefined field

Returns: AprilTagFieldLayout of the field

Deprecated: Use AprilTagFieldLayout::LoadField() instead

◆ MakeCostMatrix() [1/3]

template<size_t N>

Matrixd< N, N > frc::MakeCostMatrix ( const std::array< double, N > & costs )

constexpr

Creates a cost matrix from the given vector for use with LQR.

The cost matrix is constructed using Bryson's rule. The inverse square of each element in the input is placed on the cost matrix diagonal. If a tolerance is infinity, its cost matrix entry is set to zero.

Parameters

costs An array. For a Q matrix, its elements are the maximum allowed excursions of the states from the reference. For an R matrix, its elements are the maximum allowed excursions of the control inputs from no actuation.

Returns: State excursion or control effort cost matrix.

◆ MakeCostMatrix() [2/3]

WPILIB_DLLEXPORT Eigen::MatrixXd frc::MakeCostMatrix ( const std::span< const double > costs )

Creates a cost matrix from the given vector for use with LQR.

The cost matrix is constructed using Bryson's rule. The inverse square of each element in the input is placed on the cost matrix diagonal. If a tolerance is infinity, its cost matrix entry is set to zero.

Parameters

costs A possibly variable length container. For a Q matrix, its elements are the maximum allowed excursions of the states from the reference. For an R matrix, its elements are the maximum allowed excursions of the control inputs from no actuation.

Returns: State excursion or control effort cost matrix.

◆ MakeCostMatrix() [3/3]

template<std::same_as< double >... Ts>

Matrixd< sizeof...(Ts), sizeof...(Ts)> frc::MakeCostMatrix ( Ts... tolerances )

constexpr

Creates a cost matrix from the given vector for use with LQR.

The cost matrix is constructed using Bryson's rule. The inverse square of each tolerance is placed on the cost matrix diagonal. If a tolerance is infinity, its cost matrix entry is set to zero.

Parameters

tolerances An array. For a Q matrix, its elements are the maximum allowed excursions of the states from the reference. For an R matrix, its elements are the maximum allowed excursions of the control inputs from no actuation.

Returns: State excursion or control effort cost matrix.

◆ MakeCovMatrix() [1/3]

template<size_t N>

Matrixd< N, N > frc::MakeCovMatrix ( const std::array< double, N > & stdDevs )

constexpr

Creates a covariance matrix from the given vector for use with Kalman filters.

Each element is squared and placed on the covariance matrix diagonal.

Parameters

stdDevs An array. For a Q matrix, its elements are the standard deviations of each state from how the model behaves. For an R matrix, its elements are the standard deviations for each output measurement.

Returns: Process noise or measurement noise covariance matrix.

◆ MakeCovMatrix() [2/3]

WPILIB_DLLEXPORT Eigen::MatrixXd frc::MakeCovMatrix ( const std::span< const double > stdDevs )

Creates a covariance matrix from the given vector for use with Kalman filters.

Each element is squared and placed on the covariance matrix diagonal.

Parameters

stdDevs A possibly variable length container. For a Q matrix, its elements are the standard deviations of each state from how the model behaves. For an R matrix, its elements are the standard deviations for each output measurement.

Returns: Process noise or measurement noise covariance matrix.

◆ MakeCovMatrix() [3/3]

template<std::same_as< double >... Ts>

Matrixd< sizeof...(Ts), sizeof...(Ts)> frc::MakeCovMatrix ( Ts... stdDevs )

constexpr

Creates a covariance matrix from the given vector for use with Kalman filters.

Each element is squared and placed on the covariance matrix diagonal.

Parameters

stdDevs An array. For a Q matrix, its elements are the standard deviations of each state from how the model behaves. For an R matrix, its elements are the standard deviations for each output measurement.

Returns: Process noise or measurement noise covariance matrix.

◆ MakeError()

template<typename... Args>

RuntimeError frc::MakeError	(	int32_t	status,
		const char *	fileName,
		int	lineNumber,
		const char *	funcName,
		fmt::string_view	format,
		Args &&...	args )

inlinenodiscard

◆ MakeErrorV()

RuntimeError frc::MakeErrorV	(	int32_t	status,
		const char *	fileName,
		int	lineNumber,
		const char *	funcName,
		fmt::string_view	format,
		fmt::format_args	args )

nodiscard

Makes a runtime error exception object.

This object should be thrown by the caller. Generally the FRC_MakeError wrapper macro should be used instead.

Parameters

[out]	status	error code
[in]	fileName	source file name
[in]	lineNumber	source line number
[in]	funcName	source function name
[in]	format	error message format
[in]	args	error message format args

Returns: runtime error object

◆ MakeWhiteNoiseVector() [1/3]

template<int N>

Vectord< N > frc::MakeWhiteNoiseVector ( const std::array< double, N > & stdDevs )

Creates a vector of normally distributed white noise with the given noise intensities for each element.

Parameters

stdDevs An array whose elements are the standard deviations of each element of the noise vector.

Returns: White noise vector.

◆ MakeWhiteNoiseVector() [2/3]

WPILIB_DLLEXPORT Eigen::VectorXd frc::MakeWhiteNoiseVector ( const std::span< const double > stdDevs )

Creates a vector of normally distributed white noise with the given noise intensities for each element.

Parameters

stdDevs A possibly variable length container whose elements are the standard deviations of each element of the noise vector.

Returns: White noise vector.

◆ MakeWhiteNoiseVector() [3/3]

template<std::same_as< double >... Ts>

Vectord< sizeof...(Ts)> frc::MakeWhiteNoiseVector ( Ts... stdDevs )

◆ NumericalJacobian() [1/2]

template<typename F >

Eigen::MatrixXd frc::NumericalJacobian	(	F &&	f,
		const Eigen::VectorXd &	x )

Returns numerical Jacobian with respect to x for f(x).

Parameters

f	Vector-valued function from which to compute Jacobian.
x	Vector argument.

◆ NumericalJacobian() [2/2]

template<int Rows, int Cols, typename F >

auto frc::NumericalJacobian	(	F &&	f,
		const Vectord< Cols > &	x )

Returns numerical Jacobian with respect to x for f(x).

Template Parameters

Rows	Number of rows in result of f(x).
Cols	Number of columns in result of f(x).

Parameters

f	Vector-valued function from which to compute Jacobian.
x	Vector argument.

◆ NumericalJacobianU() [1/2]

template<typename F , typename... Args>

auto frc::NumericalJacobianU	(	F &&	f,
		const Eigen::VectorXd &	x,
		const Eigen::VectorXd &	u,
		Args &&...	args )

Returns numerical Jacobian with respect to u for f(x, u, ...).

Template Parameters

F	Function object type.
Args...	Types of remaining arguments to f(x, u, ...).

Parameters

f	Vector-valued function from which to compute Jacobian.
x	State vector.
u	Input vector.
args	Remaining arguments to f(x, u, ...).

◆ NumericalJacobianU() [2/2]

template<int Rows, int States, int Inputs, typename F , typename... Args>

auto frc::NumericalJacobianU	(	F &&	f,
		const Vectord< States > &	x,
		const Vectord< Inputs > &	u,
		Args &&...	args )

Returns numerical Jacobian with respect to u for f(x, u, ...).

Template Parameters

Rows	Number of rows in result of f(x, u, ...).
States	Number of rows in x.
Inputs	Number of rows in u.
F	Function object type.
Args...	Types of remaining arguments to f(x, u, ...).

Parameters

f	Vector-valued function from which to compute Jacobian.
x	State vector.
u	Input vector.
args	Remaining arguments to f(x, u, ...).

◆ NumericalJacobianX() [1/2]

template<typename F , typename... Args>

auto frc::NumericalJacobianX	(	F &&	f,
		const Eigen::VectorXd &	x,
		const Eigen::VectorXd &	u,
		Args &&...	args )

Returns numerical Jacobian with respect to x for f(x, u, ...).

Template Parameters

F	Function object type.
Args...	Types of remaining arguments to f(x, u, ...).

Parameters

f	Vector-valued function from which to compute Jacobian.
x	State vector.
u	Input vector.
args	Remaining arguments to f(x, u, ...).

◆ NumericalJacobianX() [2/2]

template<int Rows, int States, int Inputs, typename F , typename... Args>

auto frc::NumericalJacobianX	(	F &&	f,
		const Vectord< States > &	x,
		const Vectord< Inputs > &	u,
		Args &&...	args )

Returns numerical Jacobian with respect to x for f(x, u, ...).

Template Parameters

Rows	Number of rows in result of f(x, u, ...).
States	Number of rows in x.
Inputs	Number of rows in u.
F	Function object type.
Args...	Types of remaining arguments to f(x, u, ...).

Parameters

f	Vector-valued function from which to compute Jacobian.
x	State vector.
u	Input vector.
args	Remaining arguments to f(x, u, ...).

◆ ObjectToRobotPose()

WPILIB_DLLEXPORT constexpr frc::Pose3d frc::ObjectToRobotPose	(	const frc::Pose3d &	objectInField,
		const frc::Transform3d &	cameraToObject,
		const frc::Transform3d &	robotToCamera )

constexpr

Returns the robot's pose in the field coordinate system given an object's field-relative pose, the transformation from the camera's pose to the object's pose (obtained via computer vision), and the transformation from the robot's pose to the camera's pose.

The object could be a target or a fiducial marker.

Parameters

objectInField	An object's field-relative pose.
cameraToObject	The transformation from the camera's pose to the object's pose. This comes from computer vision.
robotToCamera	The transformation from the robot's pose to the camera's pose. This can either be a constant for a rigidly mounted camera, or variable if the camera is mounted to a turret. If the camera was mounted 3 inches in front of the "origin" (usually physical center) of the robot, this would be frc::Transform3d{3_in, 0_in, 0_in, frc::Rotation3d{}}.

Returns: The robot's field-relative pose.

◆ PoseTo3dVector()

WPILIB_DLLEXPORT constexpr Eigen::Vector3d frc::PoseTo3dVector ( const Pose2d & pose )

constexpr

Converts a Pose2d into a vector of [x, y, theta].

Parameters

pose	The pose that is being represented.

Returns: The vector.

Deprecated: Create the vector manually instead. If you were using this as an intermediate step for constructing affine transformations, use Pose2d.ToMatrix() instead.

◆ PoseTo4dVector()

WPILIB_DLLEXPORT constexpr Eigen::Vector4d frc::PoseTo4dVector ( const Pose2d & pose )

constexpr

Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)].

Parameters

pose	The pose that is being represented.

Returns: The vector.

Deprecated: Create the vector manually instead. If you were using this as an intermediate step for constructing affine transformations, use Pose2d.ToMatrix() instead.

◆ PoseToVector()

WPILIB_DLLEXPORT constexpr Eigen::Vector3d frc::PoseToVector ( const Pose2d & pose )

constexpr

Converts a Pose2d into a vector of [x, y, theta].

Parameters

pose	The pose that is being represented.

Returns: The vector.

Deprecated: Create the vector manually instead. If you were using this as an intermediate step for constructing affine transformations, use Pose2d.ToMatrix() instead.

◆ ReportError()

template<typename... Args>

void frc::ReportError	(	int32_t	status,
		const char *	fileName,
		int	lineNumber,
		const char *	funcName,
		fmt::string_view	format,
		Args &&...	args )

inline

Reports an error to the driver station (using HAL_SendError).

Generally the FRC_ReportError wrapper macro should be used instead.

Parameters

[out]	status	error code
[in]	fileName	source file name
[in]	lineNumber	source line number
[in]	funcName	source function name
[in]	format	error message format
[in]	args	error message format args

◆ ReportErrorV()

void frc::ReportErrorV	(	int32_t	status,
		const char *	fileName,
		int	lineNumber,
		const char *	funcName,
		fmt::string_view	format,
		fmt::format_args	args )

Reports an error to the driver station (using HAL_SendError).

Generally the FRC_ReportError wrapper macro should be used instead.

Parameters

[out]	status	error code
[in]	fileName	source file name
[in]	lineNumber	source line number
[in]	funcName	source function name
[in]	format	error message format
[in]	args	error message format args

◆ RK4() [1/3]

template<typename F , typename T , typename U >

T frc::RK4	(	F &&	f,
		T	x,
		U	u,
		units::second_t	dt )

Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.

Parameters

f	The function to integrate. It must take two arguments x and u.
x	The initial value of x.
u	The value u held constant over the integration period.
dt	The time over which to integrate.

◆ RK4() [2/3]

template<typename F , typename T >

T frc::RK4	(	F &&	f,
		T	x,
		units::second_t	dt )

Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt.

Parameters

f	The function to integrate. It must take one argument x.
x	The initial value of x.
dt	The time over which to integrate.

◆ RK4() [3/3]

template<typename F , typename T >

T frc::RK4	(	F &&	f,
		units::second_t	t,
		T	y,
		units::second_t	dt )

Performs 4th order Runge-Kutta integration of dy/dt = f(t, y) for dt.

Parameters

f	The function to integrate. It must take two arguments t and y.
t	The initial value of t.
y	The initial value of y.
dt	The time over which to integrate.

◆ RKDP() [1/2]

template<typename F , typename T , typename U >

T frc::RKDP	(	F &&	f,
		T	x,
		U	u,
		units::second_t	dt,
		double	maxError = 1e-6 )

Performs adaptive Dormand-Prince integration of dx/dt = f(x, u) for dt.

Parameters

f	The function to integrate. It must take two arguments x and u.
x	The initial value of x.
u	The value u held constant over the integration period.
dt	The time over which to integrate.
maxError	The maximum acceptable truncation error. Usually a small number like 1e-6.

◆ RKDP() [2/2]

template<typename F , typename T >

T frc::RKDP	(	F &&	f,
		units::second_t	t,
		T	y,
		units::second_t	dt,
		double	maxError = 1e-6 )

Performs adaptive Dormand-Prince integration of dy/dt = f(t, y) for dt.

Parameters

f	The function to integrate. It must take two arguments t and y.
t	The initial value of t.
y	The initial value of y.
dt	The time over which to integrate.
maxError	The maximum acceptable truncation error. Usually a small number like 1e-6.

◆ RunHALInitialization()

int frc::RunHALInitialization ( )

◆ SetCurrentThreadPriority()

bool frc::SetCurrentThreadPriority	(	bool	realTime,
		int	priority )

Sets the thread priority for the current thread.

Parameters

realTime	Set to true to set a real-time priority, false for standard priority.
priority	Priority to set the thread to. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is forced to See "man 7 sched" for more details.

Returns: True on success.

◆ SetThreadPriority()

bool frc::SetThreadPriority	(	std::thread &	thread,
		bool	realTime,
		int	priority )

Sets the thread priority for the specified thread.

Parameters

thread	Reference to the thread to set the priority of.
realTime	Set to true to set a real-time priority, false for standard priority.
priority	Priority to set the thread to. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is forced to See "man 7 sched" for more details.

Returns: True on success.

◆ SlewRateLimit() [1/2]

Translation2d frc::SlewRateLimit	(	const Translation2d &	current,
		const Translation2d &	next,
		units::second_t	dt,
		units::meters_per_second_t	maxVelocity )

constexpr

Limits translation velocity.

Parameters

current	Translation at current timestep.
next	Translation at next timestep.
dt	Timestep duration.
maxVelocity	Maximum translation velocity.

Returns: Returns the next Translation2d limited to maxVelocity

◆ SlewRateLimit() [2/2]

Translation3d frc::SlewRateLimit	(	const Translation3d &	current,
		const Translation3d &	next,
		units::second_t	dt,
		units::meters_per_second_t	maxVelocity )

constexpr

Limits translation velocity.

Parameters

current	Translation at current timestep.
next	Translation at next timestep.
dt	Timestep duration.
maxVelocity	Maximum translation velocity.

Returns: Returns the next Translation3d limited to maxVelocity

◆ SquareRootUnscentedTransform()

template<int CovDim, int NumSigmas>

std::tuple< Vectord< CovDim >, Matrixd< CovDim, CovDim > > frc::SquareRootUnscentedTransform	(	const Matrixd< CovDim, NumSigmas > &	sigmas,
		const Vectord< NumSigmas > &	Wm,
		const Vectord< NumSigmas > &	Wc,
		std::function< Vectord< CovDim >(const Matrixd< CovDim, NumSigmas > &, const Vectord< NumSigmas > &)>	meanFunc,
		std::function< Vectord< CovDim >(const Vectord< CovDim > &, const Vectord< CovDim > &)>	residualFunc,
		const Matrixd< CovDim, CovDim > &	squareRootR )

Computes unscented transform of a set of sigma points and weights.

CovDim returns the mean and square-root covariance of the sigma points in a tuple.

This works in conjunction with the UnscentedKalmanFilter class. For use with square-root form UKFs.

Template Parameters

CovDim	Dimension of covariance of sigma points after passing through the transform.
NumSigmas	Number of sigma points.

Parameters

sigmas	List of sigma points.
Wm	Weights for the mean.
Wc	Weights for the covariance.
meanFunc	A function that computes the mean of NumSigmas state vectors using a given set of weights.
residualFunc	A function that computes the residual of two state vectors (i.e. it subtracts them.)
squareRootR	Square-root of the noise covariance of the sigma points.

Returns: Tuple of x, mean of sigma points; S, square-root covariance of sigmas.

◆ StartRobot()

template<class Robot >

int frc::StartRobot ( )

◆ SwerveDriveKinematics()

template<typename ModuleTranslation , typename... ModuleTranslations>

frc::SwerveDriveKinematics	(	ModuleTranslation	,
		ModuleTranslations...	) -> SwerveDriveKinematics< 1+sizeof...(ModuleTranslations)>

◆ to_json() [1/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const AprilTag &	apriltag )

◆ to_json() [2/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const AprilTagFieldLayout &	layout )

◆ to_json() [3/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const Pose2d &	pose )

◆ to_json() [4/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const Pose3d &	pose )

◆ to_json() [5/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const Quaternion &	quaternion )

◆ to_json() [6/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const Rotation2d &	rotation )

◆ to_json() [7/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const Rotation3d &	rotation )

◆ to_json() [8/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const Trajectory::State &	state )

◆ to_json() [9/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const Translation2d &	state )

◆ to_json() [10/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const Translation3d &	state )

◆ to_string()

std::string_view frc::to_string ( const DAREError & error )

constexpr

Converts the given DAREError enum to a string.

◆ Wait()

void frc::Wait ( units::second_t seconds )

Pause the task for a specified time.

Pause the execution of the program for a specified period of time given in seconds. Motors will continue to run at their last assigned values, and sensors will continue to update. Only the task containing the wait will pause until the wait time is expired.

Parameters

seconds Length of time to pause, in seconds.

Namespaces

Classes

Concepts

Typedefs

Enumerations

Functions

Typedef Documentation

◆ ct_matrix2d

◆ ct_matrix3d

◆ ct_row_vector

◆ ct_vector

◆ ct_vector2d

◆ ct_vector3d

◆ Matrixd

◆ MerweUKF

◆ S3UKF

◆ Vectord

Enumeration Type Documentation

◆ AprilTagField

◆ CompressorConfigType

◆ DAREError

◆ EdgeConfiguration

◆ PneumaticsModuleType

◆ RuntimeType

Function Documentation

◆ AngleAdd() [1/2]

◆ AngleAdd() [2/2]

◆ AngleMean() [1/2]

◆ AngleMean() [2/2]

◆ AngleModulus()

◆ AngleResidual() [1/2]

◆ AngleResidual() [2/2]

◆ ApplyDeadband()

◆ AprilTagDetect()

◆ ClampInputMaxMagnitude()

◆ ClampInputMaxMagnitude< Eigen::Dynamic >()

◆ CopySignPow()

◆ ct_matrix()

◆ DARE() [1/2]

◆ DARE() [2/2]

◆ DesaturateInputVector()

◆ DesaturateInputVector< Eigen::Dynamic >()

◆ DiscretizeA()

◆ DiscretizeAB()

◆ DiscretizeAQ()

◆ DiscretizeR()

◆ EXPORT_TEMPLATE_DECLARE()

◆ FloorDiv()

◆ FloorMod()

◆ format_as() [1/2]

◆ format_as() [2/2]

◆ from_json() [1/10]

◆ from_json() [2/10]

◆ from_json() [3/10]

◆ from_json() [4/10]

◆ from_json() [5/10]

◆ from_json() [6/10]

◆ from_json() [7/10]

◆ from_json() [8/10]

◆ from_json() [9/10]

◆ from_json() [10/10]

◆ GetCameraServerShared()

◆ GetCurrentThreadPriority()

◆ GetErrorMessage()

◆ GetThreadPriority()

◆ GetTime()

◆ InputModulus()

◆ IsDetectable()

◆ IsDetectable< Eigen::Dynamic, Eigen::Dynamic >()

◆ IsNear() [1/2]

◆ IsNear() [2/2]

◆ IsStabilizable()

◆ IsStabilizable< 1, 1 >()

◆ IsStabilizable< 2, 1 >()

◆ IsStabilizable< Eigen::Dynamic, Eigen::Dynamic >()

◆ LoadAprilTagLayoutField()

◆ MakeCostMatrix() [1/3]

◆ MakeCostMatrix() [2/3]

◆ MakeCostMatrix() [3/3]

◆ MakeCovMatrix() [1/3]