Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-29 02:21:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Move curvature_t to units namespace (#2444)

Browse Source 
Note: this is a breaking change.
This commit is contained in:
Prateek Machiraju
2020-03-23 01:57:52 -04:00
committed by GitHub
parent 303194b08b
commit 1c28b729ad
18 changed files with 52 additions and 58 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
wpilibc/src/main/native/include/frc/spline/Spline.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,17 +12,11 @@
#include <vector>
#include <Eigen/Core>
#include <units/units.h>
#include "frc/geometry/Pose2d.h"
namespace frc {
/**
* Define a unit for curvature.
*/
using curvature_t = units::unit_t<
units::compound_unit<units::radian, units::inverse<units::meter>>>;
/**
* Represents a two-dimensional parametric spline that interpolates between two
* points.
@@ -32,7 +26,7 @@ using curvature_t = units::unit_t<
template <int Degree>
class Spline {
public:
using PoseWithCurvature = std::pair<Pose2d, curvature_t>;
using PoseWithCurvature = std::pair<Pose2d, units::curvature_t>;
Spline() = default;
@@ -99,7 +93,7 @@ class Spline {
return {
{FromVector(combined.template block<2, 1>(0, 0)), Rotation2d(dx, dy)},
curvature_t(curvature)};
units::curvature_t(curvature)};
}
protected:

2
wpilibc/src/main/native/include/frc/spline/SplineParameterizer.h
View File

@@ -48,7 +48,7 @@ namespace frc {
*/
class SplineParameterizer {
public:
using PoseWithCurvature = std::pair<Pose2d, curvature_t>;
using PoseWithCurvature = std::pair<Pose2d, units::curvature_t>;
struct MalformedSplineException : public std::runtime_error {
explicit MalformedSplineException(const char* what_arg)

11
wpilibc/src/main/native/include/frc/trajectory/Trajectory.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -19,13 +19,6 @@ class json;
} // namespace wpi
namespace frc {
/**
* Define a unit for curvature.
*/
using curvature_t = units::unit_t<
units::compound_unit<units::radian, units::inverse<units::meter>>>;
/**
* Represents a time-parameterized trajectory. The trajectory contains of
* various States that represent the pose, curvature, time elapsed, velocity,
@@ -50,7 +43,7 @@ class Trajectory {
Pose2d pose;
// The curvature at that point of the trajectory.
curvature_t curvature{0.0};
units::curvature_t curvature{0.0};
/**
* Checks equality between this State and another object.

2
wpilibc/src/main/native/include/frc/trajectory/TrajectoryGenerator.h
View File

@@ -24,7 +24,7 @@ namespace frc {
*/
class TrajectoryGenerator {
public:
using PoseWithCurvature = std::pair<Pose2d, curvature_t>;
using PoseWithCurvature = std::pair<Pose2d, units::curvature_t>;
/**
* Generates a trajectory from the given control vectors and config. This

6
wpilibc/src/main/native/include/frc/trajectory/TrajectoryParameterizer.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -44,7 +44,7 @@ namespace frc {
*/
class TrajectoryParameterizer {
public:
using PoseWithCurvature = std::pair<Pose2d, curvature_t>;
using PoseWithCurvature = std::pair<Pose2d, units::curvature_t>;
/**
* Parameterize the trajectory by time. This is where the velocity profile is
@@ -82,7 +82,7 @@ class TrajectoryParameterizer {
* the trajectory, max velocity, min acceleration and max acceleration.
*/
struct ConstrainedState {
PoseWithCurvature pose = {Pose2d(), curvature_t(0.0)};
PoseWithCurvature pose = {Pose2d(), units::curvature_t(0.0)};
units::meter_t distance = 0_m;
units::meters_per_second_t maxVelocity = 0_mps;
units::meters_per_second_squared_t minAcceleration = 0_mps_sq;

6
wpilibc/src/main/native/include/frc/trajectory/constraint/CentripetalAccelerationConstraint.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -28,10 +28,10 @@ class CentripetalAccelerationConstraint : public TrajectoryConstraint {
units::meters_per_second_squared_t maxCentripetalAcceleration);
units::meters_per_second_t MaxVelocity(
const Pose2d& pose, curvature_t curvature,
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t velocity) override;
MinMax MinMaxAcceleration(const Pose2d& pose, curvature_t curvature,
MinMax MinMaxAcceleration(const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t speed) override;
private:

6
wpilibc/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -25,10 +25,10 @@ class DifferentialDriveKinematicsConstraint : public TrajectoryConstraint {
units::meters_per_second_t maxSpeed);
units::meters_per_second_t MaxVelocity(
const Pose2d& pose, curvature_t curvature,
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t velocity) override;
MinMax MinMaxAcceleration(const Pose2d& pose, curvature_t curvature,
MinMax MinMaxAcceleration(const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t speed) override;
private:

6
wpilibc/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -37,10 +37,10 @@ class DifferentialDriveVoltageConstraint : public TrajectoryConstraint {
DifferentialDriveKinematics kinematics, units::volt_t maxVoltage);
units::meters_per_second_t MaxVelocity(
const Pose2d& pose, curvature_t curvature,
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t velocity) override;
MinMax MinMaxAcceleration(const Pose2d& pose, curvature_t curvature,
MinMax MinMaxAcceleration(const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t speed) override;
private:

6
wpilibc/src/main/native/include/frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -27,10 +27,10 @@ class MecanumDriveKinematicsConstraint : public TrajectoryConstraint {
units::meters_per_second_t maxSpeed);
units::meters_per_second_t MaxVelocity(
const Pose2d& pose, curvature_t curvature,
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t velocity) override;
MinMax MinMaxAcceleration(const Pose2d& pose, curvature_t curvature,
MinMax MinMaxAcceleration(const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t speed) override;
private:

6
wpilibc/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -30,10 +30,10 @@ class SwerveDriveKinematicsConstraint : public TrajectoryConstraint {
units::meters_per_second_t maxSpeed);
units::meters_per_second_t MaxVelocity(
const Pose2d& pose, curvature_t curvature,
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t velocity) override;
MinMax MinMaxAcceleration(const Pose2d& pose, curvature_t curvature,
MinMax MinMaxAcceleration(const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t speed) override;
private:

6
wpilibc/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -25,7 +25,7 @@ SwerveDriveKinematicsConstraint<NumModules>::SwerveDriveKinematicsConstraint(
template <size_t NumModules>
units::meters_per_second_t
SwerveDriveKinematicsConstraint<NumModules>::MaxVelocity(
const Pose2d& pose, curvature_t curvature,
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t velocity) {
auto xVelocity = velocity * pose.Rotation().Cos();
auto yVelocity = velocity * pose.Rotation().Sin();
@@ -41,7 +41,7 @@ SwerveDriveKinematicsConstraint<NumModules>::MaxVelocity(
template <size_t NumModules>
TrajectoryConstraint::MinMax
SwerveDriveKinematicsConstraint<NumModules>::MinMaxAcceleration(
const Pose2d& pose, curvature_t curvature,
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t speed) {
return {};
}

7
wpilibc/src/main/native/include/frc/trajectory/constraint/TrajectoryConstraint.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -59,7 +59,7 @@ class TrajectoryConstraint {
* @return The absolute maximum velocity.
*/
virtual units::meters_per_second_t MaxVelocity(
const Pose2d& pose, curvature_t curvature,
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t velocity) = 0;
/**
@@ -72,7 +72,8 @@ class TrajectoryConstraint {
*
* @return The min and max acceleration bounds.
*/
virtual MinMax MinMaxAcceleration(const Pose2d& pose, curvature_t curvature,
virtual MinMax MinMaxAcceleration(const Pose2d& pose,
units::curvature_t curvature,
units::meters_per_second_t speed) = 0;
};
} // namespace frc