wpi::math::MecanumDriveWheelVelocities Struct Reference

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

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

Public Member Functions
constexpr MecanumDriveWheelVelocities	Desaturate (wpi::units::meters_per_second_t attainableMaxVelocity) const
	Renormalizes the wheel velocities if any individual velocity is above the specified maximum.
constexpr MecanumDriveWheelVelocities	operator+ (const MecanumDriveWheelVelocities &other) const
	Adds two MecanumDriveWheelVelocities and returns the sum.
constexpr MecanumDriveWheelVelocities	operator- (const MecanumDriveWheelVelocities &other) const
	Subtracts the other MecanumDriveWheelVelocities from the current MecanumDriveWheelVelocities and returns the difference.
constexpr MecanumDriveWheelVelocities	operator- () const
	Returns the inverse of the current MecanumDriveWheelVelocities.
constexpr MecanumDriveWheelVelocities	operator* (double scalar) const
	Multiplies the MecanumDriveWheelVelocities by a scalar and returns the new MecanumDriveWheelVelocities.
constexpr MecanumDriveWheelVelocities	operator/ (double scalar) const
	Divides the MecanumDriveWheelVelocities by a scalar and returns the new MecanumDriveWheelVelocities.

Public Attributes
wpi::units::meters_per_second_t	frontLeft = 0_mps
	Velocity of the front-left wheel.
wpi::units::meters_per_second_t	frontRight = 0_mps
	Velocity of the front-right wheel.
wpi::units::meters_per_second_t	rearLeft = 0_mps
	Velocity of the rear-left wheel.
wpi::units::meters_per_second_t	rearRight = 0_mps
	Velocity of the rear-right wheel.

Detailed Description

Represents the wheel velocities for a mecanum drive drivetrain.

Member Function Documentation

Desaturate()

MecanumDriveWheelVelocities wpi::math::MecanumDriveWheelVelocities::Desaturate ( wpi::units::meters_per_second_t attainableMaxVelocity ) const

inlineconstexpr

Renormalizes the wheel velocities if any individual velocity is above the specified maximum.

Sometimes, after inverse kinematics, the requested velocity from one or more wheels may be above the max attainable velocity for the driving motor on that wheel. To fix this issue, one can reduce all the wheel velocities to make sure that all requested module velocities are at-or-below the absolute threshold, while maintaining the ratio of velocities between wheels.

Parameters

attainableMaxVelocity

The absolute max velocity that a wheel can reach.

Returns

Desaturated MecanumDriveWheelVelocities.

operator*()

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

inlineconstexpr

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

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

Parameters

scalar

The scalar to multiply by.

Returns

The scaled MecanumDriveWheelVelocities.

operator+()

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

inlineconstexpr

Adds two MecanumDriveWheelVelocities and returns the sum.

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

Parameters

other

The MecanumDriveWheelVelocities to add.

Returns

The sum of the MecanumDriveWheelVelocities.

operator-() [1/2]

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

inlineconstexpr

Returns the inverse of the current MecanumDriveWheelVelocities.

This is equivalent to negating all components of the MecanumDriveWheelVelocities.

Returns

The inverse of the current MecanumDriveWheelVelocities.

operator-() [2/2]

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

inlineconstexpr

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

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

Parameters

other

The MecanumDriveWheelVelocities to subtract.

Returns

The difference between the two MecanumDriveWheelVelocities.

operator/()

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

inlineconstexpr

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

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

Parameters

scalar

The scalar to divide by.

Returns

The scaled MecanumDriveWheelVelocities.

Member Data Documentation

frontLeft

wpi::units::meters_per_second_t wpi::math::MecanumDriveWheelVelocities::frontLeft = 0_mps

Velocity of the front-left wheel.

frontRight

wpi::units::meters_per_second_t wpi::math::MecanumDriveWheelVelocities::frontRight = 0_mps

Velocity of the front-right wheel.

rearLeft

wpi::units::meters_per_second_t wpi::math::MecanumDriveWheelVelocities::rearLeft = 0_mps

Velocity of the rear-left wheel.

rearRight

wpi::units::meters_per_second_t wpi::math::MecanumDriveWheelVelocities::rearRight = 0_mps

Velocity of the rear-right wheel.

---

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

• wpi/math/kinematics/MecanumDriveWheelVelocities.hpp