allwpilib/wpimath/src/main/python/semiwrap/ChassisVelocities.yml

extra_includes:
- wpystruct.h

classes:
  wpi::math::ChassisVelocities:
    force_no_default_constructor: true
    attributes:
      vx:
      vy:
      omega:
    methods:
      ToTwist2d:
      Discretize:
        overloads:
          wpi::units::meters_per_second_t, wpi::units::meters_per_second_t, wpi::units::radians_per_second_t, wpi::units::second_t:
          const ChassisVelocities&, wpi::units::second_t:
      operator+:
      operator-:
        overloads:
          const ChassisVelocities& [const]:
          '[const]':
      operator*:
      operator/:
      operator==:
      ToRobotRelative:
      ToFieldRelative:

inline_code: |
  cls_ChassisVelocities
    .def(
      py::init<
        wpi::units::meters_per_second_t, wpi::units::meters_per_second_t,
        wpi::units::radians_per_second_t
      >(),
      py::arg("vx") = 0, py::arg("vy") = 0, py::arg("omega") = 0
    )
    .def_static("fromFeet", [](wpi::units::feet_per_second_t vx, wpi::units::feet_per_second_t vy, wpi::units::radians_per_second_t omega){
      return ChassisVelocities{vx, vy, omega};
    }, py::arg("vx") = 0, py::arg("vy") = 0, py::arg("omega") = 0)
    .def_property("vx_fps",
      [](ChassisVelocities * self) -> wpi::units::feet_per_second_t {
        return self->vx;
      },
      [](ChassisVelocities * self, wpi::units::feet_per_second_t vx) {
        self->vx = vx;
      }
    )
    .def_property("vy_fps",
      [](ChassisVelocities * self) -> wpi::units::feet_per_second_t {
        return self->vy;
      },
      [](ChassisVelocities * self, wpi::units::feet_per_second_t vy) {
        self->vy = vy;
      }
    )
    .def_property("omega_dps",
      [](ChassisVelocities * self) -> wpi::units::degrees_per_second_t {
        return self->omega;
      },
      [](ChassisVelocities * self, wpi::units::degrees_per_second_t omega) {
        self->omega = omega;
      }
    )
    .def("__len__", [](const ChassisVelocities &self) { return 3; })
    .def("__getitem__", [](const ChassisVelocities &self, int index) {
      switch (index) {
        case 0:
          return self.vx();
        case 1:
          return self.vy();
        case 2:
          return self.omega();
        default:
          throw std::out_of_range("ChassisVelocities index out of range");
      }
    })
    .def("__repr__", [](const ChassisVelocities &cs) -> std::string {
      return "ChassisVelocities(vx=" + std::to_string(cs.vx()) + ", "
                           "vy=" + std::to_string(cs.vy()) + ", "
                           "omega=" + std::to_string(cs.omega()) + ")";
    })
  ;

  SetupWPyStruct<wpi::math::ChassisVelocities>(cls_ChassisVelocities);