wpi::math::MecanumDriveWheelAccelerations Struct Reference

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

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

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

Public Attributes
units::meters_per_second_squared_t	frontLeft = 0_mps_sq
	Acceleration of the front-left wheel.
units::meters_per_second_squared_t	frontRight = 0_mps_sq
	Acceleration of the front-right wheel.
units::meters_per_second_squared_t	rearLeft = 0_mps_sq
	Acceleration of the rear-left wheel.
units::meters_per_second_squared_t	rearRight = 0_mps_sq
	Acceleration of the rear-right wheel.

Detailed Description

Represents the wheel accelerations for a mecanum drive drivetrain.

Member Function Documentation

operator*()

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

inlineconstexpr

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

For example, MecanumDriveWheelAccelerations{2.0, 2.5, 3.0, 3.5} * 2 = MecanumDriveWheelAccelerations{4.0, 5.0, 6.0, 7.0}

Parameters

scalar

The scalar to multiply by.

Returns

The scaled MecanumDriveWheelAccelerations.

operator+()

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

inlineconstexpr

Adds two MecanumDriveWheelAccelerations and returns the sum.

For example, MecanumDriveWheelAccelerations{1.0, 0.5, 2.0, 1.5} + MecanumDriveWheelAccelerations{2.0, 1.5, 0.5, 1.0} = MecanumDriveWheelAccelerations{3.0, 2.0, 2.5, 2.5}

Parameters

other

The MecanumDriveWheelAccelerations to add.

Returns

The sum of the MecanumDriveWheelAccelerations.

operator-() [1/2]

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

inlineconstexpr

Returns the inverse of the current MecanumDriveWheelAccelerations.

This is equivalent to negating all components of the MecanumDriveWheelAccelerations.

Returns

The inverse of the current MecanumDriveWheelAccelerations.

operator-() [2/2]

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

inlineconstexpr

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

For example, MecanumDriveWheelAccelerations{5.0, 4.0, 6.0, 2.5} - MecanumDriveWheelAccelerations{1.0, 2.0, 3.0, 0.5} = MecanumDriveWheelAccelerations{4.0, 2.0, 3.0, 2.0}

Parameters

other

The MecanumDriveWheelAccelerations to subtract.

Returns

The difference between the two MecanumDriveWheelAccelerations.

operator/()

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

inlineconstexpr

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

For example, MecanumDriveWheelAccelerations{2.0, 2.5, 1.5, 1.0} / 2 = MecanumDriveWheelAccelerations{1.0, 1.25, 0.75, 0.5}

Parameters

scalar

The scalar to divide by.

Returns

The scaled MecanumDriveWheelAccelerations.

operator==()

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

constexprdefault

Compares two MecanumDriveWheelAccelerations objects.

Parameters

other

The other MecanumDriveWheelAccelerations.

Returns

True if the MecanumDriveWheelAccelerations are equal.

Member Data Documentation

frontLeft

units::meters_per_second_squared_t wpi::math::MecanumDriveWheelAccelerations::frontLeft = 0_mps_sq

Acceleration of the front-left wheel.

frontRight

units::meters_per_second_squared_t wpi::math::MecanumDriveWheelAccelerations::frontRight = 0_mps_sq

Acceleration of the front-right wheel.

rearLeft

units::meters_per_second_squared_t wpi::math::MecanumDriveWheelAccelerations::rearLeft = 0_mps_sq

Acceleration of the rear-left wheel.

rearRight

units::meters_per_second_squared_t wpi::math::MecanumDriveWheelAccelerations::rearRight = 0_mps_sq

Acceleration of the rear-right wheel.

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

• wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp