wpi::math::DifferentialDriveWheelAccelerations Struct Reference

Represents the wheel accelerations for a differential drive drivetrain. More...

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

Public Member Functions
constexpr DifferentialDriveWheelAccelerations	operator+ (const DifferentialDriveWheelAccelerations &other) const
	Adds two DifferentialDriveWheelAccelerations and returns the sum.
constexpr DifferentialDriveWheelAccelerations	operator- (const DifferentialDriveWheelAccelerations &other) const
	Subtracts the other DifferentialDriveWheelAccelerations from the current DifferentialDriveWheelAccelerations and returns the difference.
constexpr DifferentialDriveWheelAccelerations	operator- () const
	Returns the inverse of the current DifferentialDriveWheelAccelerations.
constexpr DifferentialDriveWheelAccelerations	operator* (double scalar) const
	Multiplies the DifferentialDriveWheelAccelerations by a scalar and returns the new DifferentialDriveWheelAccelerations.
constexpr DifferentialDriveWheelAccelerations	operator/ (double scalar) const
	Divides the DifferentialDriveWheelAccelerations by a scalar and returns the new DifferentialDriveWheelAccelerations.
constexpr bool	operator== (const DifferentialDriveWheelAccelerations &other) const =default
	Compares two DifferentialDriveWheelAccelerations objects.

Public Attributes
units::meters_per_second_squared_t	left = 0_mps_sq
	Acceleration of the left side of the robot.
units::meters_per_second_squared_t	right = 0_mps_sq
	Acceleration of the right side of the robot.

Detailed Description

Represents the wheel accelerations for a differential drive drivetrain.

Member Function Documentation

operator*()

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

inlineconstexpr

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

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

Parameters

scalar

The scalar to multiply by.

Returns

The scaled DifferentialDriveWheelAccelerations.

operator+()

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

inlineconstexpr

Adds two DifferentialDriveWheelAccelerations and returns the sum.

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

Parameters

other

The DifferentialDriveWheelAccelerations to add.

Returns

The sum of the DifferentialDriveWheelAccelerations.

operator-() [1/2]

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

inlineconstexpr

Returns the inverse of the current DifferentialDriveWheelAccelerations.

This is equivalent to negating all components of the DifferentialDriveWheelAccelerations.

Returns

The inverse of the current DifferentialDriveWheelAccelerations.

operator-() [2/2]

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

inlineconstexpr

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

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

Parameters

other

The DifferentialDriveWheelAccelerations to subtract.

Returns

The difference between the two DifferentialDriveWheelAccelerations.

operator/()

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

inlineconstexpr

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

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

Parameters

scalar

The scalar to divide by.

Returns

The scaled DifferentialDriveWheelAccelerations.

operator==()

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

constexprdefault

Compares two DifferentialDriveWheelAccelerations objects.

Parameters

other

The other DifferentialDriveWheelAccelerations.

Returns

True if the DifferentialDriveWheelAccelerations are equal.

Member Data Documentation

left

units::meters_per_second_squared_t wpi::math::DifferentialDriveWheelAccelerations::left = 0_mps_sq

Acceleration of the left side of the robot.

right

units::meters_per_second_squared_t wpi::math::DifferentialDriveWheelAccelerations::right = 0_mps_sq

Acceleration of the right side of the robot.

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

• wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp