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WPILibC++ 2025.3.2
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Namespaces | |
| namespace | detail |
| namespace | err |
| namespace | filesystem |
| WPILib FileSystem namespace. | |
| namespace | impl |
| namespace | internal |
| namespace | sim |
| namespace | sysid |
| namespace | warn |
Classes | |
| class | AddressableLED |
| A class for driving addressable LEDs, such as WS2812B, WS2815, and NeoPixels. More... | |
| class | ADIS16448_IMU |
| Use DMA SPI to read rate, acceleration, and magnetometer data from the ADIS16448 IMU and return the robots heading relative to a starting position, AHRS, and instant measurements. More... | |
| class | ADIS16470_IMU |
| Use DMA SPI to read rate and acceleration data from the ADIS16470 IMU and return the robot's heading relative to a starting position and instant measurements. More... | |
| class | ADXL345_I2C |
| ADXL345 Accelerometer on I2C. More... | |
| class | ADXL345_SPI |
| ADXL345 Accelerometer on SPI. More... | |
| class | ADXL362 |
| ADXL362 SPI Accelerometer. More... | |
| class | ADXRS450_Gyro |
| Use a rate gyro to return the robots heading relative to a starting position. More... | |
| class | Alert |
| Persistent alert to be sent via NetworkTables. More... | |
| class | AnalogAccelerometer |
| Handle operation of an analog accelerometer. More... | |
| class | AnalogEncoder |
| Class for supporting continuous analog encoders, such as the US Digital MA3. More... | |
| class | AnalogGyro |
| Use a rate gyro to return the robots heading relative to a starting position. More... | |
| class | AnalogInput |
| Analog input class. More... | |
| class | AnalogOutput |
| MXP analog output class. More... | |
| class | AnalogPotentiometer |
| Class for reading analog potentiometers. More... | |
| class | AnalogTrigger |
| class | AnalogTriggerOutput |
| Class to represent a specific output from an analog trigger. More... | |
| struct | AprilTag |
| Represents an AprilTag's metadata. More... | |
| class | AprilTagDetection |
| A detection of an AprilTag tag. More... | |
| class | AprilTagDetector |
| An AprilTag detector engine. More... | |
| class | AprilTagFieldLayout |
| Class for representing a layout of AprilTags on a field and reading them from a JSON format. More... | |
| struct | AprilTagPoseEstimate |
| A pair of AprilTag pose estimates. More... | |
| class | AprilTagPoseEstimator |
| Pose estimators for AprilTag tags. More... | |
| class | ArmFeedforward |
| A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting against the force of gravity on a beam suspended at an angle). More... | |
| class | AsynchronousInterrupt |
| Class for handling asynchronous interrupts using a callback thread. More... | |
| class | BangBangController |
| Implements a bang-bang controller, which outputs either 0 or 1 depending on whether the measurement is less than the setpoint. More... | |
| class | BooleanEvent |
| This class provides an easy way to link actions to active high logic signals. More... | |
| class | BuiltInAccelerometer |
| Built-in accelerometer. More... | |
| class | CameraServer |
| Singleton class for creating and keeping camera servers. More... | |
| class | CameraServerShared |
| class | CAN |
| High level class for interfacing with CAN devices conforming to the standard CAN spec. More... | |
| struct | CANData |
| struct | CANStatus |
| class | CentripetalAccelerationConstraint |
| A constraint on the maximum absolute centripetal acceleration allowed when traversing a trajectory. More... | |
| struct | ChassisSpeeds |
| Represents the speed of a robot chassis. More... | |
| class | Color |
| Represents colors that can be used with Addressable LEDs. More... | |
| class | Color8Bit |
| Represents colors that can be used with Addressable LEDs. More... | |
| class | ComplexWidget |
| A Shuffleboard widget that handles a Sendable object such as a motor controller or sensor. More... | |
| class | Compressor |
| Class for operating a compressor connected to a pneumatics module. More... | |
| class | ControlAffinePlantInversionFeedforward |
| Constructs a control-affine plant inversion model-based feedforward from given model dynamics. More... | |
| class | CoordinateAxis |
| A class representing a coordinate system axis within the NWU coordinate system. More... | |
| class | CoordinateSystem |
| A helper class that converts Pose3d objects between different standard coordinate frames. More... | |
| class | Counter |
| Class for counting the number of ticks on a digital input channel. More... | |
| class | CounterBase |
| Interface for counting the number of ticks on a digital input channel. More... | |
| class | ct_matrix |
| Compile-time wrapper for Eigen::Matrix. More... | |
| class | CubicHermiteSpline |
| Represents a hermite spline of degree 3. More... | |
| class | DataLogManager |
| Centralized data log that provides automatic data log file management. More... | |
| class | DCMotor |
| Holds the constants for a DC motor. More... | |
| class | Debouncer |
| A simple debounce filter for boolean streams. More... | |
| class | DifferentialDrive |
| A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive base, "tank drive", or West Coast Drive. More... | |
| class | DifferentialDriveAccelerationLimiter |
| Filters the provided voltages to limit a differential drive's linear and angular acceleration. More... | |
| class | DifferentialDriveFeedforward |
| A helper class which computes the feedforward outputs for a differential drive drivetrain. More... | |
| class | DifferentialDriveKinematics |
| Helper class that converts a chassis velocity (dx and dtheta components) to left and right wheel velocities for a differential drive. More... | |
| class | DifferentialDriveKinematicsConstraint |
| A class that enforces constraints on the differential drive kinematics. More... | |
| class | DifferentialDriveOdometry |
| Class for differential drive odometry. More... | |
| class | DifferentialDriveOdometry3d |
| Class for differential drive odometry. More... | |
| class | DifferentialDrivePoseEstimator |
| This class wraps Differential Drive Odometry to fuse latency-compensated vision measurements with differential drive encoder measurements. More... | |
| class | DifferentialDrivePoseEstimator3d |
| This class wraps Differential Drive Odometry to fuse latency-compensated vision measurements with differential drive encoder measurements. More... | |
| class | DifferentialDriveVoltageConstraint |
| A class that enforces constraints on differential drive voltage expenditure based on the motor dynamics and the drive kinematics. More... | |
| struct | DifferentialDriveWheelPositions |
| Represents the wheel positions for a differential drive drivetrain. More... | |
| struct | DifferentialDriveWheelSpeeds |
| Represents the wheel speeds for a differential drive drivetrain. More... | |
| struct | DifferentialDriveWheelVoltages |
| Motor voltages for a differential drive. More... | |
| class | DigitalGlitchFilter |
| Class to enable glitch filtering on a set of digital inputs. More... | |
| class | DigitalInput |
| Class to read a digital input. More... | |
| class | DigitalOutput |
| Class to write to digital outputs. More... | |
| class | DigitalSource |
| DigitalSource Interface. More... | |
| class | DMA |
| Class for configuring Direct Memory Access (DMA) of FPGA inputs. More... | |
| class | DMASample |
| DMA sample. More... | |
| class | DMC60 |
| Digilent DMC 60 Motor Controller with PWM control. More... | |
| class | DoubleSolenoid |
| DoubleSolenoid class for running 2 channels of high voltage Digital Output on a pneumatics module. More... | |
| class | DriverStation |
| Provide access to the network communication data to / from the Driver Station. More... | |
| class | DSControlWord |
| A wrapper around Driver Station control word. More... | |
| class | DutyCycle |
| Class to read a duty cycle PWM input. More... | |
| class | DutyCycleEncoder |
| Class for supporting duty cycle/PWM encoders, such as the US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder. More... | |
| class | ElevatorFeedforward |
| A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting against the force of gravity). More... | |
| class | Ellipse2d |
| Represents a 2d ellipse space containing translational, rotational, and scaling components. More... | |
| class | EllipticalRegionConstraint |
| Enforces a particular constraint only within an elliptical region. More... | |
| class | Encoder |
| Class to read quad encoders. More... | |
| class | EventLoop |
| A declarative way to bind a set of actions to a loop and execute them when the loop is polled. More... | |
| class | ExponentialProfile |
| A Exponential-shaped velocity profile. More... | |
| class | ExtendedKalmanFilter |
| A Kalman filter combines predictions from a model and measurements to give an estimate of the true system state. More... | |
| class | ExternalDirectionCounter |
| Counter using external direction. More... | |
| class | Field2d |
| 2D representation of game field for dashboards. More... | |
| class | FieldObject2d |
| Game field object on a Field2d. More... | |
| class | GenericHID |
| Handle input from standard HID devices connected to the Driver Station. More... | |
| class | HolonomicDriveController |
| This holonomic drive controller can be used to follow trajectories using a holonomic drivetrain (i.e. More... | |
| class | I2C |
| I2C bus interface class. More... | |
| class | ImplicitModelFollower |
| Contains the controller coefficients and logic for an implicit model follower. More... | |
| class | IterativeRobotBase |
| IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase class. More... | |
| class | Jaguar |
| Luminary Micro / Vex Robotics Jaguar Motor Controller with PWM control. More... | |
| class | Joystick |
| Handle input from standard Joysticks connected to the Driver Station. More... | |
| class | KalmanFilter |
| A Kalman filter combines predictions from a model and measurements to give an estimate of the true system state. More... | |
| class | KalmanFilterLatencyCompensator |
| This class incorporates time-delayed measurements into a Kalman filter's state estimate. More... | |
| class | Kinematics |
| Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel speeds. More... | |
| class | Koors40 |
| AndyMark Koors40 Motor Controller with PWM control. More... | |
| class | LayoutType |
| Represents the type of a layout in Shuffleboard. More... | |
| class | LEDPattern |
| class | LinearFilter |
| This class implements a linear, digital filter. More... | |
| class | LinearPlantInversionFeedforward |
| Constructs a plant inversion model-based feedforward from a LinearSystem. More... | |
| class | LinearQuadraticRegulator |
| Contains the controller coefficients and logic for a linear-quadratic regulator (LQR). More... | |
| class | LinearSystem |
| A plant defined using state-space notation. More... | |
| class | LinearSystemId |
| Linear system ID utility functions. More... | |
| class | LinearSystemLoop |
| Combines a controller, feedforward, and observer for controlling a mechanism with full state feedback. More... | |
| class | LiveWindow |
| The LiveWindow class is the public interface for putting sensors and actuators on the LiveWindow. More... | |
| class | LTVDifferentialDriveController |
| The linear time-varying differential drive controller has a similar form to the LQR, but the model used to compute the controller gain is the nonlinear differential drive model linearized around the drivetrain's current state. More... | |
| class | LTVUnicycleController |
| The linear time-varying unicycle controller has a similar form to the LQR, but the model used to compute the controller gain is the nonlinear unicycle model linearized around the drivetrain's current state. More... | |
| class | MaxVelocityConstraint |
| Represents a constraint that enforces a max velocity. More... | |
| class | MecanumDrive |
| A class for driving Mecanum drive platforms. More... | |
| class | MecanumDriveKinematics |
| Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel speeds. More... | |
| class | MecanumDriveKinematicsConstraint |
| A class that enforces constraints on the mecanum drive kinematics. More... | |
| class | MecanumDriveOdometry |
| Class for mecanum drive odometry. More... | |
| class | MecanumDriveOdometry3d |
| Class for mecanum drive odometry. More... | |
| class | MecanumDrivePoseEstimator |
| This class wraps Mecanum Drive Odometry to fuse latency-compensated vision measurements with mecanum drive encoder velocity measurements. More... | |
| class | MecanumDrivePoseEstimator3d |
| This class wraps Mecanum Drive Odometry to fuse latency-compensated vision measurements with mecanum drive encoder velocity measurements. More... | |
| struct | MecanumDriveWheelPositions |
| Represents the wheel positions for a mecanum drive drivetrain. More... | |
| struct | MecanumDriveWheelSpeeds |
| Represents the wheel speeds for a mecanum drive drivetrain. More... | |
| class | Mechanism2d |
| Visual 2D representation of arms, elevators, and general mechanisms through a node-based API. More... | |
| class | MechanismLigament2d |
| Ligament node on a Mechanism2d. More... | |
| class | MechanismObject2d |
| Common base class for all Mechanism2d node types. More... | |
| class | MechanismRoot2d |
| Root Mechanism2d node. More... | |
| class | MedianFilter |
| A class that implements a moving-window median filter. More... | |
| class | MerweScaledSigmaPoints |
| Generates sigma points and weights according to Van der Merwe's 2004 dissertation[1] for the UnscentedKalmanFilter class. More... | |
| class | MotorController |
| Interface for motor controlling devices. More... | |
| class | MotorControllerGroup |
| Allows multiple MotorController objects to be linked together. More... | |
| class | MotorSafety |
| The Motor Safety feature acts as a watchdog timer for an individual motor. More... | |
| class | NetworkBooleanEvent |
| A Button that uses a NetworkTable boolean field. More... | |
| class | NidecBrushless |
| Nidec Brushless Motor. More... | |
| class | Notifier |
| Notifiers run a user-provided callback function on a separate thread. More... | |
| class | Odometry |
| Class for odometry. More... | |
| class | Odometry3d |
| Class for odometry. More... | |
| class | OnBoardIO |
| This class represents the onboard IO of the Romi reference robot. More... | |
| class | PIDController |
| Implements a PID control loop. More... | |
| class | PneumaticHub |
| Module class for controlling a REV Robotics Pneumatic Hub. More... | |
| class | PneumaticsBase |
| Base class for pneumatics devices. More... | |
| class | PneumaticsControlModule |
| Module class for controlling a Cross The Road Electronics Pneumatics Control Module. More... | |
| class | Pose2d |
| Represents a 2D pose containing translational and rotational elements. More... | |
| class | Pose3d |
| Represents a 3D pose containing translational and rotational elements. More... | |
| class | PoseEstimator |
| This class wraps odometry to fuse latency-compensated vision measurements with encoder measurements. More... | |
| class | PoseEstimator3d |
| This class wraps odometry to fuse latency-compensated vision measurements with encoder measurements. More... | |
| class | PowerDistribution |
| Class for getting voltage, current, temperature, power and energy from the CTRE Power Distribution Panel (PDP) or REV Power Distribution Hub (PDH). More... | |
| class | Preferences |
| The preferences class provides a relatively simple way to save important values to the roboRIO to access the next time the roboRIO is booted. More... | |
| class | ProfiledPIDController |
| Implements a PID control loop whose setpoint is constrained by a trapezoid profile. More... | |
| class | PS4Controller |
| Handle input from PS4 controllers connected to the Driver Station. More... | |
| class | PS5Controller |
| Handle input from PS5 controllers connected to the Driver Station. More... | |
| class | PWM |
| Class implements the PWM generation in the FPGA. More... | |
| class | PWMMotorController |
| Common base class for all PWM Motor Controllers. More... | |
| class | PWMSparkFlex |
| REV Robotics SPARK Flex Motor Controller with PWM control. More... | |
| class | PWMSparkMax |
| REV Robotics SPARK MAX Motor Controller with PWM control. More... | |
| class | PWMTalonFX |
| Cross the Road Electronics (CTRE) Talon FX Motor Controller with PWM control. More... | |
| class | PWMTalonSRX |
| Cross the Road Electronics (CTRE) Talon SRX Motor Controller with PWM control. More... | |
| class | PWMVenom |
| Playing with Fusion Venom Motor Controller with PWM control. More... | |
| class | PWMVictorSPX |
| Cross the Road Electronics (CTRE) Victor SPX Motor Controller with PWM control. More... | |
| class | Quaternion |
| Represents a quaternion. More... | |
| class | QuinticHermiteSpline |
| Represents a hermite spline of degree 5. More... | |
| class | RamseteController |
| Ramsete is a nonlinear time-varying feedback controller for unicycle models that drives the model to a desired pose along a two-dimensional trajectory. More... | |
| class | Rectangle2d |
| Represents a 2d rectangular space containing translational, rotational, and scaling components. More... | |
| class | RectangularRegionConstraint |
| Enforces a particular constraint only within a rectangular region. More... | |
| class | Relay |
| Class for Spike style relay outputs. More... | |
| class | Resource |
| The Resource class is a convenient way to track allocated resources. More... | |
| class | RobotBase |
| Implement a Robot Program framework. More... | |
| class | RobotController |
| class | RobotDriveBase |
| Common base class for drive platforms. More... | |
| class | RobotState |
| Robot state utility functions. More... | |
| class | RomiGyro |
| Use a rate gyro to return the robots heading relative to a starting position. More... | |
| class | RomiMotor |
| RomiMotor. More... | |
| class | Rotation2d |
| A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine). More... | |
| class | Rotation3d |
| A rotation in a 3D coordinate frame represented by a quaternion. More... | |
| class | RuntimeError |
| Runtime error exception. More... | |
| class | ScopedTracer |
| A class for keeping track of how much time it takes for different parts of code to execute. More... | |
| class | SD540 |
| Mindsensors SD540 Motor Controller with PWM control. More... | |
| class | SendableBuilderImpl |
| Implementation detail for SendableBuilder. More... | |
| class | SendableCameraWrapper |
| A wrapper to make video sources sendable and usable from Shuffleboard. More... | |
| class | SendableChooser |
| The SendableChooser class is a useful tool for presenting a selection of options to the SmartDashboard. More... | |
| class | SendableChooserBase |
| This class is a non-template base class for SendableChooser. More... | |
| class | SensorUtil |
| Stores most recent status information as well as containing utility functions for checking channels and error processing. More... | |
| class | SerialPort |
| Driver for the RS-232 serial port on the roboRIO. More... | |
| class | Servo |
| Standard hobby style servo. More... | |
| class | SharpIR |
| class | SharpIRSim |
| Simulation class for Sharp IR sensors. More... | |
| class | Shuffleboard |
| The Shuffleboard class provides a mechanism with which data can be added and laid out in the Shuffleboard dashboard application from a robot program. More... | |
| class | ShuffleboardComponent |
| A generic component in Shuffleboard. More... | |
| class | ShuffleboardComponentBase |
| A shim class to allow storing ShuffleboardComponents in arrays. More... | |
| class | ShuffleboardContainer |
| Common interface for objects that can contain shuffleboard components. More... | |
| class | ShuffleboardLayout |
| A layout in a Shuffleboard tab. More... | |
| class | ShuffleboardRoot |
| The root of the data placed in Shuffleboard. More... | |
| class | ShuffleboardTab |
| Represents a tab in the Shuffleboard dashboard. More... | |
| class | ShuffleboardValue |
| class | ShuffleboardWidget |
| Abstract superclass for widgets. More... | |
| class | SimpleMotorFeedforward |
| A helper class that computes feedforward voltages for a simple permanent-magnet DC motor. More... | |
| class | SimpleWidget |
| A Shuffleboard widget that handles a single data point such as a number or string. More... | |
| class | SimulatedAnnealing |
| An implementation of the Simulated Annealing stochastic nonlinear optimization method. More... | |
| class | SlewRateLimiter |
| A class that limits the rate of change of an input value. More... | |
| class | SmartDashboard |
| class | Solenoid |
| Solenoid class for running high voltage Digital Output on a pneumatics module. More... | |
| class | Spark |
| REV Robotics SPARK Motor Controller with PWM control. More... | |
| class | SPI |
| SPI bus interface class. More... | |
| class | Spline |
| Represents a two-dimensional parametric spline that interpolates between two points. More... | |
| class | SplineHelper |
| Helper class that is used to generate cubic and quintic splines from user provided waypoints. More... | |
| class | SplineParameterizer |
| Class used to parameterize a spline by its arc length. More... | |
| class | StadiaController |
| Handle input from Stadia controllers connected to the Driver Station. More... | |
| class | SteadyStateKalmanFilter |
| A Kalman filter combines predictions from a model and measurements to give an estimate of the true system state. More... | |
| class | SuppliedValueWidget |
| class | SwerveDriveKinematics |
| Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle). More... | |
| class | SwerveDriveKinematicsConstraint |
| A class that enforces constraints on the swerve drive kinematics. More... | |
| class | SwerveDriveOdometry |
| Class for swerve drive odometry. More... | |
| class | SwerveDriveOdometry3d |
| Class for swerve drive odometry. More... | |
| class | SwerveDrivePoseEstimator |
| This class wraps Swerve Drive Odometry to fuse latency-compensated vision measurements with swerve drive encoder distance measurements. More... | |
| class | SwerveDrivePoseEstimator3d |
| This class wraps Swerve Drive Odometry to fuse latency-compensated vision measurements with swerve drive encoder distance measurements. More... | |
| struct | SwerveModulePosition |
| Represents the position of one swerve module. More... | |
| struct | SwerveModuleState |
| Represents the state of one swerve module. More... | |
| class | SynchronousInterrupt |
| Class for handling synchronous (blocking) interrupts. More... | |
| class | Tachometer |
| Tachometer for getting rotational speed from a device. More... | |
| class | Talon |
| Cross the Road Electronics (CTRE) Talon Motor Controller with PWM control. More... | |
| class | TimedRobot |
| TimedRobot implements the IterativeRobotBase robot program framework. More... | |
| class | TimeInterpolatableBuffer |
| The TimeInterpolatableBuffer provides an easy way to estimate past measurements. More... | |
| class | Timer |
| A timer class. More... | |
| class | TimesliceRobot |
| TimesliceRobot extends the TimedRobot robot program framework to provide timeslice scheduling of periodic functions. More... | |
| class | Tracer |
| A class for keeping track of how much time it takes for different parts of code to execute. More... | |
| class | Trajectory |
| Represents a time-parameterized trajectory. More... | |
| class | TrajectoryConfig |
| Represents the configuration for generating a trajectory. More... | |
| class | TrajectoryConstraint |
| An interface for defining user-defined velocity and acceleration constraints while generating trajectories. More... | |
| class | TrajectoryGenerator |
| Helper class used to generate trajectories with various constraints. More... | |
| class | TrajectoryParameterizer |
| Class used to parameterize a trajectory by time. More... | |
| class | TrajectoryUtil |
| Trajectory utilities. More... | |
| class | Transform2d |
| Represents a transformation for a Pose2d in the pose's frame. More... | |
| class | Transform3d |
| Represents a transformation for a Pose3d in the pose's frame. More... | |
| class | Translation2d |
| Represents a translation in 2D space. More... | |
| class | Translation3d |
| Represents a translation in 3D space. More... | |
| class | TrapezoidProfile |
| A trapezoid-shaped velocity profile. More... | |
| class | TravelingSalesman |
| Given a list of poses, this class finds the shortest possible route that visits each pose exactly once and returns to the origin pose. More... | |
| struct | Twist2d |
| A change in distance along a 2D arc since the last pose update. More... | |
| struct | Twist3d |
| A change in distance along a 3D arc since the last pose update. More... | |
| class | Ultrasonic |
| Ultrasonic rangefinder class. More... | |
| class | UnscentedKalmanFilter |
| A Kalman filter combines predictions from a model and measurements to give an estimate of the true system state. More... | |
| class | UpDownCounter |
| Up Down Counter. More... | |
| class | Victor |
| Vex Robotics Victor 888 Motor Controller with PWM control. More... | |
| class | VictorSP |
| Vex Robotics Victor SP Motor Controller with PWM control. More... | |
| class | VisionPipeline |
| A vision pipeline is responsible for running a group of OpenCV algorithms to extract data from an image. More... | |
| class | VisionRunner |
| A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot code. More... | |
| class | VisionRunnerBase |
| Non-template base class for VisionRunner. More... | |
| class | Watchdog |
| A class that's a wrapper around a watchdog timer. More... | |
| class | WidgetType |
| Represents the type of a widget in Shuffleboard. More... | |
| class | XboxController |
| Handle input from Xbox controllers connected to the Driver Station. More... | |
| class | XRPGyro |
| Use a rate gyro to return the robots heading relative to a starting position. More... | |
| class | XRPMotor |
| XRPMotor. More... | |
| class | XRPOnBoardIO |
| This class represents the onboard IO of the XRP reference robot. More... | |
| class | XRPRangefinder |
| This class represents the ultrasonic rangefinder on an XRP robot. More... | |
| class | XRPReflectanceSensor |
| This class represents the reflectance sensor pair on an XRP robot. More... | |
| class | XRPServo |
| XRPServo. More... | |
Concepts | |
| concept | EigenMatrixLike |
Typedefs | |
| template<int Size> | |
| using | Vectord = Eigen::Vector<double, Size> |
| template<int Rows, int Cols, int Options = Eigen::AutoAlign | ((Rows == 1 && Cols != 1) ? Eigen::RowMajor : (Cols == 1 && Rows != 1) ? Eigen::ColMajor : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION), int MaxRows = Rows, int MaxCols = Cols> | |
| using | Matrixd = Eigen::Matrix<double, Rows, Cols, Options, MaxRows, MaxCols> |
| template<typename Scalar , int Rows> | |
| using | ct_vector = ct_matrix<Scalar, Rows, 1> |
| template<typename Scalar , int Cols> | |
| using | ct_row_vector = ct_matrix<Scalar, 1, Cols> |
| using | ct_matrix2d = ct_matrix<double, 2, 2> |
| using | ct_matrix3d = ct_matrix<double, 3, 3> |
| using | ct_vector2d = ct_vector<double, 2> |
| using | ct_vector3d = ct_vector<double, 3> |
Functions | |
| constexpr auto | format_as (AddressableLED::ColorOrder order) |
| template class | EXPORT_TEMPLATE_DECLARE (WPILIB_DLLEXPORT) KalmanFilter< 1 |
| WPILIB_DLLEXPORT void | to_json (wpi::json &json, const Rotation3d &rotation) |
| WPILIB_DLLEXPORT void | from_json (const wpi::json &json, Rotation3d &rotation) |
| AprilTagDetector::Results | AprilTagDetect (AprilTagDetector &detector, cv::Mat &image) |
| CameraServerShared * | GetCameraServerShared () |
| const char * | GetErrorMessage (int32_t *code) |
| Gets error message string for an error code. | |
| void | ReportErrorV (int32_t status, const char *fileName, int lineNumber, const char *funcName, fmt::string_view format, fmt::format_args args) |
| Reports an error to the driver station (using HAL_SendError). | |
| template<typename... Args> | |
| void | ReportError (int32_t status, const char *fileName, int lineNumber, const char *funcName, fmt::string_view format, Args &&... args) |
| Reports an error to the driver station (using HAL_SendError). | |
| RuntimeError | MakeErrorV (int32_t status, const char *fileName, int lineNumber, const char *funcName, fmt::string_view format, fmt::format_args args) |
| Makes a runtime error exception object. | |
| template<typename... Args> | |
| RuntimeError | MakeError (int32_t status, const char *fileName, int lineNumber, const char *funcName, fmt::string_view format, Args &&... args) |
| template<int CovDim, int States> | |
| std::tuple< Vectord< CovDim >, Matrixd< CovDim, CovDim > > | SquareRootUnscentedTransform (const Matrixd< CovDim, 2 *States+1 > &sigmas, const Vectord< 2 *States+1 > &Wm, const Vectord< 2 *States+1 > &Wc, std::function< Vectord< CovDim >(const Matrixd< CovDim, 2 *States+1 > &, const Vectord< 2 *States+1 > &)> meanFunc, std::function< Vectord< CovDim >(const Vectord< CovDim > &, const Vectord< CovDim > &)> residualFunc, const Matrixd< CovDim, CovDim > &squareRootR) |
| Computes unscented transform of a set of sigma points and weights. | |
| WPILIB_DLLEXPORT void | to_json (wpi::json &json, const Translation2d &state) |
| WPILIB_DLLEXPORT void | from_json (const wpi::json &json, Translation2d &state) |
| int | RunHALInitialization () |
| template<class Robot > | |
| int | StartRobot () |
| WPILIB_DLLEXPORT void | to_json (wpi::json &json, const Pose2d &pose) |
| WPILIB_DLLEXPORT void | from_json (const wpi::json &json, Pose2d &pose) |
| std::string_view | ShuffleboardEventImportanceName (ShuffleboardEventImportance importance) |
| Returns name of the given enum. | |
| WPILIB_DLLEXPORT void | to_json (wpi::json &json, const Quaternion &quaternion) |
| WPILIB_DLLEXPORT void | from_json (const wpi::json &json, Quaternion &quaternion) |
| WPILIB_DLLEXPORT void | to_json (wpi::json &json, const Pose3d &pose) |
| WPILIB_DLLEXPORT void | from_json (const wpi::json &json, Pose3d &pose) |
| WPILIB_DLLEXPORT void | to_json (wpi::json &json, const AprilTagFieldLayout &layout) |
| WPILIB_DLLEXPORT void | from_json (const wpi::json &json, AprilTagFieldLayout &layout) |
| WPILIB_DLLEXPORT AprilTagFieldLayout | LoadAprilTagLayoutField (AprilTagField field) |
| Loads an AprilTagFieldLayout from a predefined field. | |
| WPILIB_DLLEXPORT void | to_json (wpi::json &json, const Trajectory::State &state) |
| WPILIB_DLLEXPORT void | from_json (const wpi::json &json, Trajectory::State &state) |
| WPILIB_DLLEXPORT constexpr frc::Pose3d | ObjectToRobotPose (const frc::Pose3d &objectInField, const frc::Transform3d &cameraToObject, const frc::Transform3d &robotToCamera) |
| Returns the robot's pose in the field coordinate system given an object's field-relative pose, the transformation from the camera's pose to the object's pose (obtained via computer vision), and the transformation from the robot's pose to the camera's pose. | |
| WPILIB_DLLEXPORT void | to_json (wpi::json &json, const AprilTag &apriltag) |
| WPILIB_DLLEXPORT void | from_json (const wpi::json &json, AprilTag &apriltag) |
| WPILIB_DLLEXPORT void | to_json (wpi::json &json, const Rotation2d &rotation) |
| WPILIB_DLLEXPORT void | from_json (const wpi::json &json, Rotation2d &rotation) |
| constexpr std::string_view | to_string (const DAREError &error) |
| Converts the given DAREError enum to a string. | |
| template<int States, int Inputs> | |
| wpi::expected< Eigen::Matrix< double, States, States >, DAREError > | DARE (const Eigen::Matrix< double, States, States > &A, const Eigen::Matrix< double, States, Inputs > &B, const Eigen::Matrix< double, States, States > &Q, const Eigen::Matrix< double, Inputs, Inputs > &R, bool checkPreconditions=true) |
| Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation: | |
| template<int States, int Inputs> | |
| wpi::expected< Eigen::Matrix< double, States, States >, DAREError > | DARE (const Eigen::Matrix< double, States, States > &A, const Eigen::Matrix< double, States, Inputs > &B, const Eigen::Matrix< double, States, States > &Q, const Eigen::Matrix< double, Inputs, Inputs > &R, const Eigen::Matrix< double, States, Inputs > &N, bool checkPreconditions=true) |
| Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation: | |
| template<typename Derived > requires std::derived_from<Derived, Eigen::MatrixBase<Derived>> | |
| ct_matrix (const Derived &) -> ct_matrix< typename Derived::Scalar, Derived::RowsAtCompileTime, Derived::ColsAtCompileTime > | |
| template<int States> | |
| Vectord< States > | AngleResidual (const Vectord< States > &a, const Vectord< States > &b, int angleStateIdx) |
| Subtracts a and b while normalizing the resulting value in the selected row as if it were an angle. | |
| template<int States> | |
| std::function< Vectord< States >(const Vectord< States > &, const Vectord< States > &)> | AngleResidual (int angleStateIdx) |
| Returns a function that subtracts two vectors while normalizing the resulting value in the selected row as if it were an angle. | |
| template<int States> | |
| Vectord< States > | AngleAdd (const Vectord< States > &a, const Vectord< States > &b, int angleStateIdx) |
| Adds a and b while normalizing the resulting value in the selected row as an angle. | |
| template<int States> | |
| std::function< Vectord< States >(const Vectord< States > &, const Vectord< States > &)> | AngleAdd (int angleStateIdx) |
| Returns a function that adds two vectors while normalizing the resulting value in the selected row as an angle. | |
| template<int CovDim, int States> | |
| Vectord< CovDim > | AngleMean (const Matrixd< CovDim, 2 *States+1 > &sigmas, const Vectord< 2 *States+1 > &Wm, int angleStatesIdx) |
| Computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row. | |
| template<int CovDim, int States> | |
| std::function< Vectord< CovDim >(const Matrixd< CovDim, 2 *States+1 > &, const Vectord< 2 *States+1 > &)> | AngleMean (int angleStateIdx) |
| Returns a function that computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row. | |
| template<int States> | |
| void | DiscretizeA (const Matrixd< States, States > &contA, units::second_t dt, Matrixd< States, States > *discA) |
| Discretizes the given continuous A matrix. | |
| template<int States, int Inputs> | |
| void | DiscretizeAB (const Matrixd< States, States > &contA, const Matrixd< States, Inputs > &contB, units::second_t dt, Matrixd< States, States > *discA, Matrixd< States, Inputs > *discB) |
| Discretizes the given continuous A and B matrices. | |
| template<int States> | |
| void | DiscretizeAQ (const Matrixd< States, States > &contA, const Matrixd< States, States > &contQ, units::second_t dt, Matrixd< States, States > *discA, Matrixd< States, States > *discQ) |
| Discretizes the given continuous A and Q matrices. | |
| template<int Outputs> | |
| Matrixd< Outputs, Outputs > | DiscretizeR (const Matrixd< Outputs, Outputs > &R, units::second_t dt) |
| Returns a discretized version of the provided continuous measurement noise covariance matrix. | |
| template<std::same_as< double >... Ts> | |
| constexpr Matrixd< sizeof...(Ts), sizeof...(Ts)> | MakeCostMatrix (Ts... tolerances) |
| Creates a cost matrix from the given vector for use with LQR. | |
| template<std::same_as< double >... Ts> | |
| constexpr Matrixd< sizeof...(Ts), sizeof...(Ts)> | MakeCovMatrix (Ts... stdDevs) |
| Creates a covariance matrix from the given vector for use with Kalman filters. | |
| template<size_t N> | |
| constexpr Matrixd< N, N > | MakeCostMatrix (const std::array< double, N > &costs) |
| Creates a cost matrix from the given vector for use with LQR. | |
| template<size_t N> | |
| constexpr Matrixd< N, N > | MakeCovMatrix (const std::array< double, N > &stdDevs) |
| Creates a covariance matrix from the given vector for use with Kalman filters. | |
| template<std::same_as< double >... Ts> | |
| Vectord< sizeof...(Ts)> | MakeWhiteNoiseVector (Ts... stdDevs) |
| template<int N> | |
| Vectord< N > | MakeWhiteNoiseVector (const std::array< double, N > &stdDevs) |
| Creates a vector of normally distributed white noise with the given noise intensities for each element. | |
| WPILIB_DLLEXPORT constexpr Eigen::Vector3d | PoseTo3dVector (const Pose2d &pose) |
| Converts a Pose2d into a vector of [x, y, theta]. | |
| WPILIB_DLLEXPORT constexpr Eigen::Vector4d | PoseTo4dVector (const Pose2d &pose) |
| Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)]. | |
| template<int States, int Inputs> | |
| bool | IsStabilizable (const Matrixd< States, States > &A, const Matrixd< States, Inputs > &B) |
| Returns true if (A, B) is a stabilizable pair. | |
| template WPILIB_DLLEXPORT bool | IsStabilizable< 1, 1 > (const Matrixd< 1, 1 > &A, const Matrixd< 1, 1 > &B) |
| template WPILIB_DLLEXPORT bool | IsStabilizable< 2, 1 > (const Matrixd< 2, 2 > &A, const Matrixd< 2, 1 > &B) |
| template WPILIB_DLLEXPORT bool | IsStabilizable< Eigen::Dynamic, Eigen::Dynamic > (const Eigen::MatrixXd &A, const Eigen::MatrixXd &B) |
| template<int States, int Outputs> | |
| bool | IsDetectable (const Matrixd< States, States > &A, const Matrixd< Outputs, States > &C) |
| Returns true if (A, C) is a detectable pair. | |
| WPILIB_DLLEXPORT constexpr Eigen::Vector3d | PoseToVector (const Pose2d &pose) |
| Converts a Pose2d into a vector of [x, y, theta]. | |
| template<int Inputs> | |
| constexpr Vectord< Inputs > | ClampInputMaxMagnitude (const Vectord< Inputs > &u, const Vectord< Inputs > &umin, const Vectord< Inputs > &umax) |
| Clamps input vector between system's minimum and maximum allowable input. | |
| template<int Inputs> | |
| Vectord< Inputs > | DesaturateInputVector (const Vectord< Inputs > &u, double maxMagnitude) |
| Renormalize all inputs if any exceeds the maximum magnitude. | |
| std::string | format_as (Alert::AlertType type) |
| template<int Rows, int Cols, typename F > | |
| auto | NumericalJacobian (F &&f, const Vectord< Cols > &x) |
| Returns numerical Jacobian with respect to x for f(x). | |
| template<int Rows, int States, int Inputs, typename F , typename... Args> | |
| auto | NumericalJacobianX (F &&f, const Vectord< States > &x, const Vectord< Inputs > &u, Args &&... args) |
| Returns numerical Jacobian with respect to x for f(x, u, ...). | |
| template<int Rows, int States, int Inputs, typename F , typename... Args> | |
| auto | NumericalJacobianU (F &&f, const Vectord< States > &x, const Vectord< Inputs > &u, Args &&... args) |
| Returns numerical Jacobian with respect to u for f(x, u, ...). | |
| WPILIB_DLLEXPORT void | to_json (wpi::json &json, const Translation3d &state) |
| WPILIB_DLLEXPORT void | from_json (const wpi::json &json, Translation3d &state) |
| template<typename ModuleTranslation , typename... ModuleTranslations> | |
| SwerveDriveKinematics (ModuleTranslation, ModuleTranslations...) -> SwerveDriveKinematics< 1+sizeof...(ModuleTranslations)> | |
| template<typename T > requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T> | |
| constexpr T | ApplyDeadband (T value, T deadband, T maxMagnitude=T{1.0}) |
| Returns 0.0 if the given value is within the specified range around zero. | |
| template<typename T > | |
| constexpr T | InputModulus (T input, T minimumInput, T maximumInput) |
| Returns modulus of input. | |
| template<typename T > requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T> | |
| constexpr bool | IsNear (T expected, T actual, T tolerance) |
| Checks if the given value matches an expected value within a certain tolerance. | |
| template<typename T > requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T> | |
| constexpr bool | IsNear (T expected, T actual, T tolerance, T min, T max) |
| Checks if the given value matches an expected value within a certain tolerance. | |
| WPILIB_DLLEXPORT constexpr units::radian_t | AngleModulus (units::radian_t angle) |
| Wraps an angle to the range -π to π radians (-180 to 180 degrees). | |
| constexpr std::signed_integral auto | FloorDiv (std::signed_integral auto x, std::signed_integral auto y) |
Returns the largest (closest to positive infinity) int value that is less than or equal to the algebraic quotient. | |
| constexpr std::signed_integral auto | FloorMod (std::signed_integral auto x, std::signed_integral auto y) |
Returns the floor modulus of the int arguments. | |
| constexpr Translation2d | SlewRateLimit (const Translation2d ¤t, const Translation2d &next, units::second_t dt, units::meters_per_second_t maxVelocity) |
| Limits translation velocity. | |
| constexpr Translation3d | SlewRateLimit (const Translation3d ¤t, const Translation3d &next, units::second_t dt, units::meters_per_second_t maxVelocity) |
| Limits translation velocity. | |
| void | Wait (units::second_t seconds) |
| Pause the task for a specified time. | |
| units::second_t | GetTime () |
| Gives real-time clock system time with nanosecond resolution. | |
| int | GetThreadPriority (std::thread &thread, bool *isRealTime) |
| Get the thread priority for the specified thread. | |
| int | GetCurrentThreadPriority (bool *isRealTime) |
| Get the thread priority for the current thread. | |
| bool | SetThreadPriority (std::thread &thread, bool realTime, int priority) |
| Sets the thread priority for the specified thread. | |
| bool | SetCurrentThreadPriority (bool realTime, int priority) |
| Sets the thread priority for the current thread. | |
| template<typename F , typename T > | |
| T | RK4 (F &&f, T x, units::second_t dt) |
| Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt. | |
| template<typename F , typename T , typename U > | |
| T | RK4 (F &&f, T x, U u, units::second_t dt) |
| Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt. | |
| template<typename F , typename T > | |
| T | RK4 (F &&f, units::second_t t, T y, units::second_t dt) |
| Performs 4th order Runge-Kutta integration of dy/dt = f(t, y) for dt. | |
| template<typename F , typename T , typename U > | |
| T | RKDP (F &&f, T x, U u, units::second_t dt, double maxError=1e-6) |
| Performs adaptive Dormand-Prince integration of dx/dt = f(x, u) for dt. | |
| template<typename F , typename T > | |
| T | RKDP (F &&f, units::second_t t, T y, units::second_t dt, double maxError=1e-6) |
| Performs adaptive Dormand-Prince integration of dy/dt = f(t, y) for dt. | |
| using frc::ct_matrix2d = ct_matrix<double, 2, 2> |
| using frc::ct_matrix3d = ct_matrix<double, 3, 3> |
| using frc::ct_row_vector = ct_matrix<Scalar, 1, Cols> |
| using frc::ct_vector = ct_matrix<Scalar, Rows, 1> |
| using frc::ct_vector2d = ct_vector<double, 2> |
| using frc::ct_vector3d = ct_vector<double, 3> |
| using frc::Matrixd = Eigen::Matrix<double, Rows, Cols, Options, MaxRows, MaxCols> |
| using frc::Vectord = Eigen::Vector<double, Size> |
|
strong |
Defines the state in which the AnalogTrigger triggers.
| Enumerator | |
|---|---|
| kInWindow | In window. |
| kState | State. |
| kRisingPulse | Rising Pulse. |
| kFallingPulse | Falling pulse. |
|
strong |
Loadable AprilTag field layouts.
|
strong |
The types of layouts bundled with Shuffleboard.
ShuffleboardLayout myList = Shuffleboard::GetTab("My Tab")
.GetLayout(BuiltinLayouts::kList, "My List");
|
strong |
The types of the widgets bundled with Shuffleboard.
For example, setting a number to be displayed with a slider:
NetworkTableEntry example = Shuffleboard.getTab("My Tab")
.add("My Number", 0)
.withWidget(BuiltInWidgets.kNumberSlider)
.getEntry();
Each value in this enum goes into detail on what data types that widget can support, as well as the custom properties that widget uses.
| Enumerator | |||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| kTextView | Displays a value with a simple text field.
| ||||||||||||||||||||||||
| kNumberSlider | Displays a number with a controllable slider.
| ||||||||||||||||||||||||
| kNumberBar | Displays a number with a view-only bar.
| ||||||||||||||||||||||||
| kDial | Displays a number with a view-only dial. Displayed values are rounded to the nearest integer.
| ||||||||||||||||||||||||
| kGraph | Displays a number with a graph. NOTE: graphs can be taxing on the computer running the dashboard. Keep the number of visible data points to a minimum. Making the widget smaller also helps with performance, but may cause the graph to become difficult to read.
| ||||||||||||||||||||||||
| kBooleanBox | Displays a boolean value as a large colored box.
| ||||||||||||||||||||||||
| kToggleButton | Displays a boolean with a large interactive toggle button.
| ||||||||||||||||||||||||
| kToggleSwitch | Displays a boolean with a fixed-size toggle switch.
| ||||||||||||||||||||||||
| kVoltageView | Displays an analog input or a raw number with a number bar.
| ||||||||||||||||||||||||
| kPowerDistribution | Displays a PowerDistribution.
| ||||||||||||||||||||||||
| kComboBoxChooser | Displays a SendableChooser with a dropdown combo box with a list of options.
| ||||||||||||||||||||||||
| kSplitButtonChooser | Displays a SendableChooserwith a toggle button for each available option.
| ||||||||||||||||||||||||
| kEncoder | Displays an Encoder displaying its speed, total traveled distance, and its distance per tick.
| ||||||||||||||||||||||||
| kMotorController | Displays a MotorController. The motor controller will be controllable from the dashboard when test mode is enabled, but will otherwise be view-only.
| ||||||||||||||||||||||||
| kCommand | Displays a command with a toggle button. Pressing the button will start the command, and the button will automatically release when the command completes.
| ||||||||||||||||||||||||
| kPIDCommand | Displays a PID command with a checkbox and an editor for the PIDF constants. Selecting the checkbox will start the command, and the checkbox will automatically deselect when the command completes.
| ||||||||||||||||||||||||
| kPIDController | Displays a PID controller with an editor for the PIDF constants and a toggle switch for enabling and disabling the controller.
| ||||||||||||||||||||||||
| kAccelerometer | Displays an accelerometer with a number bar displaying the magnitude of the acceleration and text displaying the exact value.
| ||||||||||||||||||||||||
| k3AxisAccelerometer | Displays a 3-axis accelerometer with a number bar for each axis' acceleration.
| ||||||||||||||||||||||||
| kGyro | Displays a gyro with a dial from 0 to 360 degrees.
| ||||||||||||||||||||||||
| kRelay | Displays a relay with toggle buttons for each supported mode (off, on, forward, reverse).
| ||||||||||||||||||||||||
| kDifferentialDrive | Displays a differential drive with a widget that displays the speed of each side of the drivebase and a vector for the direction and rotation of the drivebase. The widget will be controllable if the robot is in test mode.
| ||||||||||||||||||||||||
| kMecanumDrive | Displays a mecanum drive with a widget that displays the speed of each wheel, and vectors for the direction and rotation of the drivebase. The widget will be controllable if the robot is in test mode.
| ||||||||||||||||||||||||
| kCameraStream | Displays a camera stream.
| ||||||||||||||||||||||||
| kField | Displays a field2d object.
| ||||||||||||||||||||||||
|
strong |
Compressor config type.
| Enumerator | |
|---|---|
| Disabled | Disabled. |
| Digital | Digital. |
| Analog | Analog. |
| Hybrid | Hybrid. |
|
strong |
Errors the DARE solver can encounter.
| Enumerator | |
|---|---|
| QNotSymmetric | Q was not symmetric. |
| QNotPositiveSemidefinite | Q was not positive semidefinite. |
| RNotSymmetric | R was not symmetric. |
| RNotPositiveDefinite | R was not positive definite. |
| ABNotStabilizable | (A, B) pair was not stabilizable. |
| ACNotDetectable | (A, C) pair where Q = CᵀC was not detectable. |
|
strong |
|
strong |
| enum frc::RadioLEDState |
| enum frc::RuntimeType |
| Vectord< States > frc::AngleAdd | ( | const Vectord< States > & | a, |
| const Vectord< States > & | b, | ||
| int | angleStateIdx ) |
Adds a and b while normalizing the resulting value in the selected row as an angle.
| States | Number of states. |
| a | A vector to add with. |
| b | A vector to add with. |
| angleStateIdx | The row containing angles to be normalized. |
| std::function< Vectord< States >(const Vectord< States > &, const Vectord< States > &)> frc::AngleAdd | ( | int | angleStateIdx | ) |
Returns a function that adds two vectors while normalizing the resulting value in the selected row as an angle.
| States | Number of states. |
| angleStateIdx | The row containing angles to be normalized. |
| Vectord< CovDim > frc::AngleMean | ( | const Matrixd< CovDim, 2 *States+1 > & | sigmas, |
| const Vectord< 2 *States+1 > & | Wm, | ||
| int | angleStatesIdx ) |
Computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row.
| CovDim | Dimension of covariance of sigma points after passing through the transform. |
| States | Number of states. |
| sigmas | Sigma points. |
| Wm | Weights for the mean. |
| angleStatesIdx | The row containing the angles. |
| std::function< Vectord< CovDim >(const Matrixd< CovDim, 2 *States+1 > &, const Vectord< 2 *States+1 > &)> frc::AngleMean | ( | int | angleStateIdx | ) |
Returns a function that computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row.
| CovDim | Dimension of covariance of sigma points after passing through the transform. |
| States | Number of states. |
| angleStateIdx | The row containing the angles. |
|
constexpr |
Wraps an angle to the range -π to π radians (-180 to 180 degrees).
| angle | Angle to wrap. |
| Vectord< States > frc::AngleResidual | ( | const Vectord< States > & | a, |
| const Vectord< States > & | b, | ||
| int | angleStateIdx ) |
Subtracts a and b while normalizing the resulting value in the selected row as if it were an angle.
| States | Number of states. |
| a | A vector to subtract from. |
| b | A vector to subtract with. |
| angleStateIdx | The row containing angles to be normalized. |
| std::function< Vectord< States >(const Vectord< States > &, const Vectord< States > &)> frc::AngleResidual | ( | int | angleStateIdx | ) |
Returns a function that subtracts two vectors while normalizing the resulting value in the selected row as if it were an angle.
| States | Number of states. |
| angleStateIdx | The row containing angles to be normalized. |
|
constexpr |
Returns 0.0 if the given value is within the specified range around zero.
The remaining range between the deadband and the maximum magnitude is scaled from 0.0 to the maximum magnitude.
| value | Value to clip. |
| deadband | Range around zero. |
| maxMagnitude | The maximum magnitude of the input (defaults to 1). Can be infinite. |
|
inline |
|
constexpr |
Clamps input vector between system's minimum and maximum allowable input.
| Inputs | Number of inputs. |
| u | Input vector to clamp. |
| umin | The minimum input magnitude. |
| umax | The maximum input magnitude. |
| frc::ct_matrix | ( | const Derived & | ) | -> ct_matrix< typename Derived::Scalar, Derived::RowsAtCompileTime, Derived::ColsAtCompileTime > |
| wpi::expected< Eigen::Matrix< double, States, States >, DAREError > frc::DARE | ( | const Eigen::Matrix< double, States, States > & | A, |
| const Eigen::Matrix< double, States, Inputs > & | B, | ||
| const Eigen::Matrix< double, States, States > & | Q, | ||
| const Eigen::Matrix< double, Inputs, Inputs > & | R, | ||
| bool | checkPreconditions = true ) |
Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation:
AᵀXA − X − AᵀXB(BᵀXB + R)⁻¹BᵀXA + Q = 0
| States | Number of states. |
| Inputs | Number of inputs. |
| A | The system matrix. |
| B | The input matrix. |
| Q | The state cost matrix. |
| R | The input cost matrix. |
| checkPreconditions | Whether to check preconditions (30% less time if user is sure precondtions are already met). |
| wpi::expected< Eigen::Matrix< double, States, States >, DAREError > frc::DARE | ( | const Eigen::Matrix< double, States, States > & | A, |
| const Eigen::Matrix< double, States, Inputs > & | B, | ||
| const Eigen::Matrix< double, States, States > & | Q, | ||
| const Eigen::Matrix< double, Inputs, Inputs > & | R, | ||
| const Eigen::Matrix< double, States, Inputs > & | N, | ||
| bool | checkPreconditions = true ) |
Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation:
AᵀXA − X − (AᵀXB + N)(BᵀXB + R)⁻¹(BᵀXA + Nᵀ) + Q = 0
This is equivalent to solving the original DARE:
A₂ᵀXA₂ − X − A₂ᵀXB(BᵀXB + R)⁻¹BᵀXA₂ + Q₂ = 0
where A₂ and Q₂ are a change of variables:
A₂ = A − BR⁻¹Nᵀ and Q₂ = Q − NR⁻¹Nᵀ
This overload of the DARE is useful for finding the control law uₖ that minimizes the following cost function subject to xₖ₊₁ = Axₖ + Buₖ.
∞ [xₖ]ᵀ[Q N][xₖ] J = Σ [uₖ] [Nᵀ R][uₖ] ΔT k=0
This is a more general form of the following. The linear-quadratic regulator is the feedback control law uₖ that minimizes the following cost function subject to xₖ₊₁ = Axₖ + Buₖ:
∞ J = Σ (xₖᵀQxₖ + uₖᵀRuₖ) ΔT k=0
This can be refactored as:
∞ [xₖ]ᵀ[Q 0][xₖ] J = Σ [uₖ] [0 R][uₖ] ΔT k=0
| States | Number of states. |
| Inputs | Number of inputs. |
| A | The system matrix. |
| B | The input matrix. |
| Q | The state cost matrix. |
| R | The input cost matrix. |
| N | The state-input cross cost matrix. |
| checkPreconditions | Whether to check preconditions (30% less time if user is sure precondtions are already met). |
| Vectord< Inputs > frc::DesaturateInputVector | ( | const Vectord< Inputs > & | u, |
| double | maxMagnitude ) |
Renormalize all inputs if any exceeds the maximum magnitude.
Useful for systems such as differential drivetrains.
| Inputs | Number of inputs. |
| u | The input vector. |
| maxMagnitude | The maximum magnitude any input can have. |
| void frc::DiscretizeA | ( | const Matrixd< States, States > & | contA, |
| units::second_t | dt, | ||
| Matrixd< States, States > * | discA ) |
Discretizes the given continuous A matrix.
| States | Number of states. |
| contA | Continuous system matrix. |
| dt | Discretization timestep. |
| discA | Storage for discrete system matrix. |
| void frc::DiscretizeAB | ( | const Matrixd< States, States > & | contA, |
| const Matrixd< States, Inputs > & | contB, | ||
| units::second_t | dt, | ||
| Matrixd< States, States > * | discA, | ||
| Matrixd< States, Inputs > * | discB ) |
Discretizes the given continuous A and B matrices.
| States | Number of states. |
| Inputs | Number of inputs. |
| contA | Continuous system matrix. |
| contB | Continuous input matrix. |
| dt | Discretization timestep. |
| discA | Storage for discrete system matrix. |
| discB | Storage for discrete input matrix. |
| void frc::DiscretizeAQ | ( | const Matrixd< States, States > & | contA, |
| const Matrixd< States, States > & | contQ, | ||
| units::second_t | dt, | ||
| Matrixd< States, States > * | discA, | ||
| Matrixd< States, States > * | discQ ) |
Discretizes the given continuous A and Q matrices.
| States | Number of states. |
| contA | Continuous system matrix. |
| contQ | Continuous process noise covariance matrix. |
| dt | Discretization timestep. |
| discA | Storage for discrete system matrix. |
| discQ | Storage for discrete process noise covariance matrix. |
| Matrixd< Outputs, Outputs > frc::DiscretizeR | ( | const Matrixd< Outputs, Outputs > & | R, |
| units::second_t | dt ) |
Returns a discretized version of the provided continuous measurement noise covariance matrix.
| Outputs | Number of outputs. |
| R | Continuous measurement noise covariance matrix. |
| dt | Discretization timestep. |
|
extern |
|
constexpr |
Returns the largest (closest to positive infinity) int value that is less than or equal to the algebraic quotient.
| x | the dividend |
| y | the divisor |
int value that is less than or equal to the algebraic quotient.
|
constexpr |
Returns the floor modulus of the int arguments.
The floor modulus is r = x - (floorDiv(x, y) * y), has the same sign as the divisor y or is zero, and is in the range of -std::abs(y) < r < +std::abs(y).
| x | the dividend |
| y | the divisor |
x - (floorDiv(x, y) * y)
|
constexpr |
| std::string frc::format_as | ( | Alert::AlertType | type | ) |
| WPILIB_DLLEXPORT void frc::from_json | ( | const wpi::json & | json, |
| AprilTag & | apriltag ) |
| WPILIB_DLLEXPORT void frc::from_json | ( | const wpi::json & | json, |
| AprilTagFieldLayout & | layout ) |
| WPILIB_DLLEXPORT void frc::from_json | ( | const wpi::json & | json, |
| Pose2d & | pose ) |
| WPILIB_DLLEXPORT void frc::from_json | ( | const wpi::json & | json, |
| Pose3d & | pose ) |
| WPILIB_DLLEXPORT void frc::from_json | ( | const wpi::json & | json, |
| Quaternion & | quaternion ) |
| WPILIB_DLLEXPORT void frc::from_json | ( | const wpi::json & | json, |
| Rotation2d & | rotation ) |
| WPILIB_DLLEXPORT void frc::from_json | ( | const wpi::json & | json, |
| Rotation3d & | rotation ) |
| WPILIB_DLLEXPORT void frc::from_json | ( | const wpi::json & | json, |
| Trajectory::State & | state ) |
| WPILIB_DLLEXPORT void frc::from_json | ( | const wpi::json & | json, |
| Translation2d & | state ) |
| WPILIB_DLLEXPORT void frc::from_json | ( | const wpi::json & | json, |
| Translation3d & | state ) |
| CameraServerShared * frc::GetCameraServerShared | ( | ) |
| int frc::GetCurrentThreadPriority | ( | bool * | isRealTime | ) |
Get the thread priority for the current thread.
| isRealTime | Set to true if thread is real-time, otherwise false. |
| const char * frc::GetErrorMessage | ( | int32_t * | code | ) |
Gets error message string for an error code.
| int frc::GetThreadPriority | ( | std::thread & | thread, |
| bool * | isRealTime ) |
Get the thread priority for the specified thread.
| thread | Reference to the thread to get the priority for. |
| isRealTime | Set to true if thread is real-time, otherwise false. |
| units::second_t frc::GetTime | ( | ) |
Gives real-time clock system time with nanosecond resolution.
|
constexpr |
Returns modulus of input.
| input | Input value to wrap. |
| minimumInput | The minimum value expected from the input. |
| maximumInput | The maximum value expected from the input. |
| bool frc::IsDetectable | ( | const Matrixd< States, States > & | A, |
| const Matrixd< Outputs, States > & | C ) |
Returns true if (A, C) is a detectable pair.
(A, C) is detectable if and only if the unobservable eigenvalues of A, if any, have absolute values less than one, where an eigenvalue is unobservable if rank([λI - A; C]) < n where n is the number of states.
| States | Number of states. |
| Outputs | Number of outputs. |
| A | System matrix. |
| C | Output matrix. |
|
constexpr |
Checks if the given value matches an expected value within a certain tolerance.
| expected | The expected value |
| actual | The actual value |
| tolerance | The allowed difference between the actual and the expected value |
|
constexpr |
Checks if the given value matches an expected value within a certain tolerance.
Supports continuous input for cases like absolute encoders.
Continuous input means that the min and max value are considered to be the same point, and tolerances can be checked across them. A common example would be for absolute encoders: calling isNear(2, 359, 5, 0, 360) returns true because 359 is 1 away from 360 (which is treated as the same as 0) and 2 is 2 away from 0, adding up to an error of 3 degrees, which is within the given tolerance of 5.
| expected | The expected value |
| actual | The actual value |
| tolerance | The allowed difference between the actual and the expected value |
| min | Smallest value before wrapping around to the largest value |
| max | Largest value before wrapping around to the smallest value |
| bool frc::IsStabilizable | ( | const Matrixd< States, States > & | A, |
| const Matrixd< States, Inputs > & | B ) |
Returns true if (A, B) is a stabilizable pair.
(A, B) is stabilizable if and only if the uncontrollable eigenvalues of A, if any, have absolute values less than one, where an eigenvalue is uncontrollable if rank([λI - A, B]) < n where n is the number of states.
| States | Number of states. |
| Inputs | Number of inputs. |
| A | System matrix. |
| B | Input matrix. |
|
extern |
|
extern |
|
extern |
| WPILIB_DLLEXPORT AprilTagFieldLayout frc::LoadAprilTagLayoutField | ( | AprilTagField | field | ) |
Loads an AprilTagFieldLayout from a predefined field.
| field | The predefined field |
|
constexpr |
Creates a cost matrix from the given vector for use with LQR.
The cost matrix is constructed using Bryson's rule. The inverse square of each element in the input is placed on the cost matrix diagonal. If a tolerance is infinity, its cost matrix entry is set to zero.
| costs | An array. For a Q matrix, its elements are the maximum allowed excursions of the states from the reference. For an R matrix, its elements are the maximum allowed excursions of the control inputs from no actuation. |
|
constexpr |
Creates a cost matrix from the given vector for use with LQR.
The cost matrix is constructed using Bryson's rule. The inverse square of each tolerance is placed on the cost matrix diagonal. If a tolerance is infinity, its cost matrix entry is set to zero.
| tolerances | An array. For a Q matrix, its elements are the maximum allowed excursions of the states from the reference. For an R matrix, its elements are the maximum allowed excursions of the control inputs from no actuation. |
|
constexpr |
Creates a covariance matrix from the given vector for use with Kalman filters.
Each element is squared and placed on the covariance matrix diagonal.
| stdDevs | An array. For a Q matrix, its elements are the standard deviations of each state from how the model behaves. For an R matrix, its elements are the standard deviations for each output measurement. |
|
constexpr |
Creates a covariance matrix from the given vector for use with Kalman filters.
Each element is squared and placed on the covariance matrix diagonal.
| stdDevs | An array. For a Q matrix, its elements are the standard deviations of each state from how the model behaves. For an R matrix, its elements are the standard deviations for each output measurement. |
|
inlinenodiscard |
|
nodiscard |
Makes a runtime error exception object.
This object should be thrown by the caller. Generally the FRC_MakeError wrapper macro should be used instead.
| [out] | status | error code |
| [in] | fileName | source file name |
| [in] | lineNumber | source line number |
| [in] | funcName | source function name |
| [in] | format | error message format |
| [in] | args | error message format args |
| Vectord< N > frc::MakeWhiteNoiseVector | ( | const std::array< double, N > & | stdDevs | ) |
Creates a vector of normally distributed white noise with the given noise intensities for each element.
| stdDevs | An array whose elements are the standard deviations of each element of the noise vector. |
| Vectord< sizeof...(Ts)> frc::MakeWhiteNoiseVector | ( | Ts... | stdDevs | ) |
| auto frc::NumericalJacobian | ( | F && | f, |
| const Vectord< Cols > & | x ) |
Returns numerical Jacobian with respect to x for f(x).
| Rows | Number of rows in result of f(x). |
| Cols | Number of columns in result of f(x). |
| f | Vector-valued function from which to compute Jacobian. |
| x | Vector argument. |
| auto frc::NumericalJacobianU | ( | F && | f, |
| const Vectord< States > & | x, | ||
| const Vectord< Inputs > & | u, | ||
| Args &&... | args ) |
Returns numerical Jacobian with respect to u for f(x, u, ...).
| Rows | Number of rows in result of f(x, u, ...). |
| States | Number of rows in x. |
| Inputs | Number of rows in u. |
| F | Function object type. |
| Args... | Types of remaining arguments to f(x, u, ...). |
| f | Vector-valued function from which to compute Jacobian. |
| x | State vector. |
| u | Input vector. |
| args | Remaining arguments to f(x, u, ...). |
| auto frc::NumericalJacobianX | ( | F && | f, |
| const Vectord< States > & | x, | ||
| const Vectord< Inputs > & | u, | ||
| Args &&... | args ) |
Returns numerical Jacobian with respect to x for f(x, u, ...).
| Rows | Number of rows in result of f(x, u, ...). |
| States | Number of rows in x. |
| Inputs | Number of rows in u. |
| F | Function object type. |
| Args... | Types of remaining arguments to f(x, u, ...). |
| f | Vector-valued function from which to compute Jacobian. |
| x | State vector. |
| u | Input vector. |
| args | Remaining arguments to f(x, u, ...). |
|
constexpr |
Returns the robot's pose in the field coordinate system given an object's field-relative pose, the transformation from the camera's pose to the object's pose (obtained via computer vision), and the transformation from the robot's pose to the camera's pose.
The object could be a target or a fiducial marker.
| objectInField | An object's field-relative pose. |
| cameraToObject | The transformation from the camera's pose to the object's pose. This comes from computer vision. |
| robotToCamera | The transformation from the robot's pose to the camera's pose. This can either be a constant for a rigidly mounted camera, or variable if the camera is mounted to a turret. If the camera was mounted 3 inches in front of the "origin" (usually physical center) of the robot, this would be frc::Transform3d{3_in, 0_in, 0_in, frc::Rotation3d{}}. |
|
constexpr |
Converts a Pose2d into a vector of [x, y, theta].
| pose | The pose that is being represented. |
|
constexpr |
Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)].
| pose | The pose that is being represented. |
|
constexpr |
Converts a Pose2d into a vector of [x, y, theta].
| pose | The pose that is being represented. |
|
inline |
Reports an error to the driver station (using HAL_SendError).
Generally the FRC_ReportError wrapper macro should be used instead.
| [out] | status | error code |
| [in] | fileName | source file name |
| [in] | lineNumber | source line number |
| [in] | funcName | source function name |
| [in] | format | error message format |
| [in] | args | error message format args |
| void frc::ReportErrorV | ( | int32_t | status, |
| const char * | fileName, | ||
| int | lineNumber, | ||
| const char * | funcName, | ||
| fmt::string_view | format, | ||
| fmt::format_args | args ) |
Reports an error to the driver station (using HAL_SendError).
Generally the FRC_ReportError wrapper macro should be used instead.
| [out] | status | error code |
| [in] | fileName | source file name |
| [in] | lineNumber | source line number |
| [in] | funcName | source function name |
| [in] | format | error message format |
| [in] | args | error message format args |
| T frc::RK4 | ( | F && | f, |
| T | x, | ||
| U | u, | ||
| units::second_t | dt ) |
Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.
| f | The function to integrate. It must take two arguments x and u. |
| x | The initial value of x. |
| u | The value u held constant over the integration period. |
| dt | The time over which to integrate. |
| T frc::RK4 | ( | F && | f, |
| T | x, | ||
| units::second_t | dt ) |
Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
| f | The function to integrate. It must take one argument x. |
| x | The initial value of x. |
| dt | The time over which to integrate. |
| T frc::RK4 | ( | F && | f, |
| units::second_t | t, | ||
| T | y, | ||
| units::second_t | dt ) |
Performs 4th order Runge-Kutta integration of dy/dt = f(t, y) for dt.
| f | The function to integrate. It must take two arguments t and y. |
| t | The initial value of t. |
| y | The initial value of y. |
| dt | The time over which to integrate. |
| T frc::RKDP | ( | F && | f, |
| T | x, | ||
| U | u, | ||
| units::second_t | dt, | ||
| double | maxError = 1e-6 ) |
Performs adaptive Dormand-Prince integration of dx/dt = f(x, u) for dt.
| f | The function to integrate. It must take two arguments x and u. |
| x | The initial value of x. |
| u | The value u held constant over the integration period. |
| dt | The time over which to integrate. |
| maxError | The maximum acceptable truncation error. Usually a small number like 1e-6. |
| T frc::RKDP | ( | F && | f, |
| units::second_t | t, | ||
| T | y, | ||
| units::second_t | dt, | ||
| double | maxError = 1e-6 ) |
Performs adaptive Dormand-Prince integration of dy/dt = f(t, y) for dt.
| f | The function to integrate. It must take two arguments t and y. |
| t | The initial value of t. |
| y | The initial value of y. |
| dt | The time over which to integrate. |
| maxError | The maximum acceptable truncation error. Usually a small number like 1e-6. |
| int frc::RunHALInitialization | ( | ) |
| bool frc::SetCurrentThreadPriority | ( | bool | realTime, |
| int | priority ) |
Sets the thread priority for the current thread.
| realTime | Set to true to set a real-time priority, false for standard priority. |
| priority | Priority to set the thread to. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is forced to
|
| bool frc::SetThreadPriority | ( | std::thread & | thread, |
| bool | realTime, | ||
| int | priority ) |
Sets the thread priority for the specified thread.
| thread | Reference to the thread to set the priority of. |
| realTime | Set to true to set a real-time priority, false for standard priority. |
| priority | Priority to set the thread to. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is forced to
|
|
inline |
Returns name of the given enum.
|
constexpr |
Limits translation velocity.
| current | Translation at current timestep. |
| next | Translation at next timestep. |
| dt | Timestep duration. |
| maxVelocity | Maximum translation velocity. |
|
constexpr |
Limits translation velocity.
| current | Translation at current timestep. |
| next | Translation at next timestep. |
| dt | Timestep duration. |
| maxVelocity | Maximum translation velocity. |
| std::tuple< Vectord< CovDim >, Matrixd< CovDim, CovDim > > frc::SquareRootUnscentedTransform | ( | const Matrixd< CovDim, 2 *States+1 > & | sigmas, |
| const Vectord< 2 *States+1 > & | Wm, | ||
| const Vectord< 2 *States+1 > & | Wc, | ||
| std::function< Vectord< CovDim >(const Matrixd< CovDim, 2 *States+1 > &, const Vectord< 2 *States+1 > &)> | meanFunc, | ||
| std::function< Vectord< CovDim >(const Vectord< CovDim > &, const Vectord< CovDim > &)> | residualFunc, | ||
| const Matrixd< CovDim, CovDim > & | squareRootR ) |
Computes unscented transform of a set of sigma points and weights.
CovDim returns the mean and square-root covariance of the sigma points in a tuple.
This works in conjunction with the UnscentedKalmanFilter class. For use with square-root form UKFs.
| CovDim | Dimension of covariance of sigma points after passing through the transform. |
| States | Number of states. |
| sigmas | List of sigma points. |
| Wm | Weights for the mean. |
| Wc | Weights for the covariance. |
| meanFunc | A function that computes the mean of 2 * States + 1 state vectors using a given set of weights. |
| residualFunc | A function that computes the residual of two state vectors (i.e. it subtracts them.) |
| squareRootR | Square-root of the noise covariance of the sigma points. |
| int frc::StartRobot | ( | ) |
| frc::SwerveDriveKinematics | ( | ModuleTranslation | , |
| ModuleTranslations... | ) -> SwerveDriveKinematics< 1+sizeof...(ModuleTranslations)> |
| WPILIB_DLLEXPORT void frc::to_json | ( | wpi::json & | json, |
| const AprilTag & | apriltag ) |
| WPILIB_DLLEXPORT void frc::to_json | ( | wpi::json & | json, |
| const AprilTagFieldLayout & | layout ) |
| WPILIB_DLLEXPORT void frc::to_json | ( | wpi::json & | json, |
| const Pose2d & | pose ) |
| WPILIB_DLLEXPORT void frc::to_json | ( | wpi::json & | json, |
| const Pose3d & | pose ) |
| WPILIB_DLLEXPORT void frc::to_json | ( | wpi::json & | json, |
| const Quaternion & | quaternion ) |
| WPILIB_DLLEXPORT void frc::to_json | ( | wpi::json & | json, |
| const Rotation2d & | rotation ) |
| WPILIB_DLLEXPORT void frc::to_json | ( | wpi::json & | json, |
| const Rotation3d & | rotation ) |
| WPILIB_DLLEXPORT void frc::to_json | ( | wpi::json & | json, |
| const Trajectory::State & | state ) |
| WPILIB_DLLEXPORT void frc::to_json | ( | wpi::json & | json, |
| const Translation2d & | state ) |
| WPILIB_DLLEXPORT void frc::to_json | ( | wpi::json & | json, |
| const Translation3d & | state ) |
|
constexpr |
Converts the given DAREError enum to a string.
| void frc::Wait | ( | units::second_t | seconds | ) |
Pause the task for a specified time.
Pause the execution of the program for a specified period of time given in seconds. Motors will continue to run at their last assigned values, and sensors will continue to update. Only the task containing the wait will pause until the wait time is expired.
| seconds | Length of time to pause, in seconds. |
1.12.0