wpi::math::ChassisAccelerations Struct Reference

Represents robot chassis accelerations. More...

#include <wpi/math/kinematics/ChassisAccelerations.hpp>

Public Member Functions
constexpr ChassisAccelerations	ToRobotRelative (const Rotation2d &robotAngle) const
	Converts this field-relative set of accelerations into a robot-relative ChassisAccelerations object.
constexpr ChassisAccelerations	ToFieldRelative (const Rotation2d &robotAngle) const
	Converts this robot-relative set of accelerations into a field-relative ChassisAccelerations object.
constexpr ChassisAccelerations	operator+ (const ChassisAccelerations &other) const
	Adds two ChassisAccelerations and returns the sum.
constexpr ChassisAccelerations	operator- (const ChassisAccelerations &other) const
	Subtracts the other ChassisAccelerations from the current ChassisAccelerations and returns the difference.
constexpr ChassisAccelerations	operator- () const
	Returns the inverse of the current ChassisAccelerations.
constexpr ChassisAccelerations	operator* (double scalar) const
	Multiplies the ChassisAccelerations by a scalar and returns the new ChassisAccelerations.
constexpr ChassisAccelerations	operator/ (double scalar) const
	Divides the ChassisAccelerations by a scalar and returns the new ChassisAccelerations.
constexpr bool	operator== (const ChassisAccelerations &other) const =default
	Compares the ChassisAccelerations with another ChassisAccelerations.

Public Attributes
units::meters_per_second_squared_t	ax = 0_mps_sq
	Acceleration along the x-axis.
units::meters_per_second_squared_t	ay = 0_mps_sq
	Acceleration along the y-axis.
units::radians_per_second_squared_t	alpha = 0_rad_per_s_sq
	Angular acceleration of the robot frame.

Detailed Description

Represents robot chassis accelerations.

A strictly non-holonomic drivetrain, such as a differential drive, should never have an ay component because it can never move sideways. Holonomic drivetrains such as swerve and mecanum will often have all three components.

Member Function Documentation

operator*()

ChassisAccelerations wpi::math::ChassisAccelerations::operator* ( double scalar ) const

inlineconstexpr

Multiplies the ChassisAccelerations by a scalar and returns the new ChassisAccelerations.

For example, ChassisAccelerations{2.0, 2.5, 1.0} * 2 = ChassisAccelerations{4.0, 5.0, 2.0}

Parameters

scalar

The scalar to multiply by.

Returns

The scaled ChassisAccelerations.

operator+()

ChassisAccelerations wpi::math::ChassisAccelerations::operator+ ( const ChassisAccelerations & other ) const

inlineconstexpr

Adds two ChassisAccelerations and returns the sum.

For example, ChassisAccelerations{1.0, 0.5, 1.5} + ChassisAccelerations{2.0, 1.5, 0.5} = ChassisAccelerations{3.0, 2.0, 2.0}

Parameters

other

The ChassisAccelerations to add.

Returns

The sum of the ChassisAccelerations.

operator-() [1/2]

ChassisAccelerations wpi::math::ChassisAccelerations::operator- ( ) const

inlineconstexpr

Returns the inverse of the current ChassisAccelerations.

This is equivalent to negating all components of the ChassisAccelerations.

Returns

The inverse of the current ChassisAccelerations.

operator-() [2/2]

ChassisAccelerations wpi::math::ChassisAccelerations::operator- ( const ChassisAccelerations & other ) const

inlineconstexpr

Subtracts the other ChassisAccelerations from the current ChassisAccelerations and returns the difference.

For example, ChassisAccelerations{5.0, 4.0, 2.0} - ChassisAccelerations{1.0, 2.0, 1.0} = ChassisAccelerations{4.0, 2.0, 1.0}

Parameters

other

The ChassisAccelerations to subtract.

Returns

The difference between the two ChassisAccelerations.

operator/()

ChassisAccelerations wpi::math::ChassisAccelerations::operator/ ( double scalar ) const

inlineconstexpr

Divides the ChassisAccelerations by a scalar and returns the new ChassisAccelerations.

For example, ChassisAccelerations{2.0, 2.5, 1.0} / 2 = ChassisAccelerations{1.0, 1.25, 0.5}

Parameters

scalar

The scalar to divide by.

Returns

The scaled ChassisAccelerations.

operator==()

bool wpi::math::ChassisAccelerations::operator== ( const ChassisAccelerations & other ) const

constexprdefault

Compares the ChassisAccelerations with another ChassisAccelerations.

Parameters

other

The other ChassisAccelerations.

Returns

The result of the comparison. Is true if they are the same.

ToFieldRelative()

ChassisAccelerations wpi::math::ChassisAccelerations::ToFieldRelative ( const Rotation2d & robotAngle ) const

inlineconstexpr

Converts this robot-relative set of accelerations into a field-relative ChassisAccelerations object.

Parameters

robotAngle

The angle of the robot as measured by a gyroscope. The robot's angle is considered to be zero when it is facing directly away from your alliance station wall. Remember that this should be CCW positive.

Returns

ChassisAccelerations object representing the accelerations in the field's frame of reference.

ToRobotRelative()

ChassisAccelerations wpi::math::ChassisAccelerations::ToRobotRelative ( const Rotation2d & robotAngle ) const

inlineconstexpr

Converts this field-relative set of accelerations into a robot-relative ChassisAccelerations object.

Parameters

robotAngle

The angle of the robot as measured by a gyroscope. The robot's angle is considered to be zero when it is facing directly away from your alliance station wall. Remember that this should be CCW positive.

Returns

ChassisAccelerations object representing the accelerations in the robot's frame of reference.

Member Data Documentation

alpha

units::radians_per_second_squared_t wpi::math::ChassisAccelerations::alpha = 0_rad_per_s_sq

Angular acceleration of the robot frame.

(CCW is +)

ax

units::meters_per_second_squared_t wpi::math::ChassisAccelerations::ax = 0_mps_sq

Acceleration along the x-axis.

(Fwd is +)

ay

units::meters_per_second_squared_t wpi::math::ChassisAccelerations::ay = 0_mps_sq

Acceleration along the y-axis.

(Left is +)

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The documentation for this struct was generated from the following file:

• wpi/math/kinematics/ChassisAccelerations.hpp