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WPILibC++ 2027.0.0-alpha-4
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WPILibC++ 2027.0.0-alpha-4
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Represents robot chassis velocities. More...
#include <wpi/math/kinematics/ChassisVelocities.hpp>
Public Member Functions | |
| constexpr Twist2d | ToTwist2d (wpi::units::second_t dt) const |
| Creates a Twist2d from ChassisVelocities. | |
| constexpr ChassisVelocities | Discretize (wpi::units::second_t dt) const |
| Discretizes continuous-time chassis velocities. | |
| constexpr ChassisVelocities | ToRobotRelative (const Rotation2d &robotAngle) const |
| Converts this field-relative set of velocities into a robot-relative ChassisVelocities object. | |
| constexpr ChassisVelocities | ToFieldRelative (const Rotation2d &robotAngle) const |
| Converts this robot-relative set of velocities into a field-relative ChassisVelocities object. | |
| constexpr ChassisVelocities | operator+ (const ChassisVelocities &other) const |
| Adds two ChassisVelocities and returns the sum. | |
| constexpr ChassisVelocities | operator- (const ChassisVelocities &other) const |
| Subtracts the other ChassisVelocities from the current ChassisVelocities and returns the difference. | |
| constexpr ChassisVelocities | operator- () const |
| Returns the inverse of the current ChassisVelocities. | |
| constexpr ChassisVelocities | operator* (double scalar) const |
| Multiplies the ChassisVelocities by a scalar and returns the new ChassisVelocities. | |
| constexpr ChassisVelocities | operator/ (double scalar) const |
| Divides the ChassisVelocities by a scalar and returns the new ChassisVelocities. | |
| constexpr bool | operator== (const ChassisVelocities &other) const =default |
| Compares the ChassisVelocities with another ChassisVelocity. | |
Public Attributes | |
| wpi::units::meters_per_second_t | vx = 0_mps |
| Velocity along the x-axis. | |
| wpi::units::meters_per_second_t | vy = 0_mps |
| Velocity along the y-axis. | |
| wpi::units::radians_per_second_t | omega = 0_rad_per_s |
| Represents the angular velocity of the robot frame. | |
Represents robot chassis velocities.
Although this struct contains similar members compared to a Twist2d, they do NOT represent the same thing. Whereas a Twist2d represents a change in pose w.r.t to the robot frame of reference, a ChassisVelocities struct represents a robot's velocities.
A strictly non-holonomic drivetrain, such as a differential drive, should never have a dy component because it can never move sideways. Holonomic drivetrains such as swerve and mecanum will often have all three components.
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inlineconstexpr |
Discretizes continuous-time chassis velocities.
This function converts continuous-time chassis velocities into discrete-time ones such that when the discrete-time chassis velocities are applied for one timestep, the robot moves as if the velocity components are independent (i.e., the robot moves v_x * dt along the x-axis, v_y * dt along the y-axis, and omega * dt around the z-axis).
This is useful for compensating for translational skew when translating and rotating a holonomic (swerve or mecanum) drivetrain. However, scaling down the ChassisVelocities after discretizing (e.g., when desaturating swerve module velocities) rotates the direction of net motion in the opposite direction of rotational velocity, introducing a different translational skew which is not accounted for by discretization.
| dt | The duration of the timestep the velocities should be applied for. |
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inlineconstexpr |
Multiplies the ChassisVelocities by a scalar and returns the new ChassisVelocities.
For example, ChassisVelocities{2.0, 2.5, 1.0} * 2 = ChassisVelocities{4.0, 5.0, 1.0}
| scalar | The scalar to multiply by. |
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inlineconstexpr |
Adds two ChassisVelocities and returns the sum.
For example, ChassisVelocities{1.0, 0.5, 1.5} + ChassisVelocities{2.0, 1.5, 0.5} = ChassisVelocities{3.0, 2.0, 2.0}
| other | The ChassisVelocities to add. |
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inlineconstexpr |
Returns the inverse of the current ChassisVelocities.
This is equivalent to negating all components of the ChassisVelocities.
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inlineconstexpr |
Subtracts the other ChassisVelocities from the current ChassisVelocities and returns the difference.
For example, ChassisVelocities{5.0, 4.0, 2.0} - ChassisVelocities{1.0, 2.0, 1.0} = ChassisVelocities{4.0, 2.0, 1.0}
| other | The ChassisVelocities to subtract. |
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inlineconstexpr |
Divides the ChassisVelocities by a scalar and returns the new ChassisVelocities.
For example, ChassisVelocities{2.0, 2.5, 1.0} / 2 = ChassisVelocities{1.0, 1.25, 0.5}
| scalar | The scalar to divide by. |
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constexprdefault |
Compares the ChassisVelocities with another ChassisVelocity.
| other | The other ChassisVelocities. |
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inlineconstexpr |
Converts this robot-relative set of velocities into a field-relative ChassisVelocities object.
| 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. |
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inlineconstexpr |
Converts this field-relative set of velocities into a robot-relative ChassisVelocities object.
| 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. |
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inlineconstexpr |
Creates a Twist2d from ChassisVelocities.
| dt | The duration of the timestep. |
| wpi::units::radians_per_second_t wpi::math::ChassisVelocities::omega = 0_rad_per_s |
Represents the angular velocity of the robot frame.
(CCW is +)
| wpi::units::meters_per_second_t wpi::math::ChassisVelocities::vx = 0_mps |
Velocity along the x-axis.
(Fwd is +)
| wpi::units::meters_per_second_t wpi::math::ChassisVelocities::vy = 0_mps |
Velocity along the y-axis.
(Left is +)
1.15.0