frc::Mechanism2d Class Reference

Visual 2D representation of arms, elevators, and general mechanisms through a node-based API. More...

#include <frc/smartdashboard/Mechanism2d.h>

Inheritance diagram for frc::Mechanism2d:

Public Member Functions
	Mechanism2d (double width, double height, const Color8Bit &backgroundColor={0, 0, 32})
	Create a new Mechanism2d with the given dimensions and background color. More...
MechanismRoot2d *	GetRoot (std::string_view name, double x, double y)
	Get or create a root in this Mechanism2d with the given name and position. More...
void	SetBackgroundColor (const Color8Bit &color)
	Set the Mechanism2d background color. More...
void	InitSendable (nt::NTSendableBuilder &builder) override
	Initializes this Sendable object. More...
Public Member Functions inherited from nt::NTSendable
virtual void	InitSendable (NTSendableBuilder &builder)=0
	Initializes this Sendable object. More...
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...
Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default
virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...
Public Member Functions inherited from wpi::SendableHelper< Mechanism2d >
	SendableHelper (const SendableHelper &rhs)=default
	SendableHelper (SendableHelper &&rhs)
SendableHelper &	operator= (const SendableHelper &rhs)=default
SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Protected Member Functions inherited from wpi::SendableHelper< Mechanism2d >
	SendableHelper ()=default
	~SendableHelper ()

Detailed Description

Visual 2D representation of arms, elevators, and general mechanisms through a node-based API.

A Mechanism2d object is published and contains at least one root node. A root is the anchor point of other nodes (such as ligaments). Other nodes are recursively appended based on other nodes.

Except for the Mechanism2d container object, none of the objects should be passed or interacted with by value! Obtain pointers from factory methods such as Mechanism2d.GetRoot() and MechanismObject2d.Append<>(). The Mechanism2d container object owns the root nodes, and each node internally owns the nodes based on it. Beware not to let the Mechanism2d object out of scope - all nodes will be recursively destructed!

See also

MechanismObject2d

MechanismLigament2d

MechanismRoot2d

Constructor & Destructor Documentation

Mechanism2d()

frc::Mechanism2d::Mechanism2d	(	double	width,
		double	height,
		const Color8Bit &	backgroundColor = {0, 0, 32}
	)

Create a new Mechanism2d with the given dimensions and background color.

The dimensions represent the canvas that all the nodes are drawn on. The default color is dark blue.

Parameters

width	the width
height	the height
backgroundColor	the background color

Member Function Documentation

GetRoot()

MechanismRoot2d * frc::Mechanism2d::GetRoot	(	std::string_view	name,
		double	x,
		double	y
	)

Get or create a root in this Mechanism2d with the given name and position.

If a root with the given name already exists, the given x and y coordinates are not used.

Parameters

name	the root name
x	the root x coordinate
y	the root y coordinate

Returns

a new root object, or the existing one with the given name.

InitSendable()

void frc::Mechanism2d::InitSendable ( nt::NTSendableBuilder &  builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder

sendable builder

Implements nt::NTSendable.

SetBackgroundColor()

void frc::Mechanism2d::SetBackgroundColor

(

const Color8Bit &

color

)

Set the Mechanism2d background color.

Parameters

color

the new background color

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

• frc/smartdashboard/Mechanism2d.h