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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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6
wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
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@@ -60,7 +60,8 @@ Twist2d MecanumDriveKinematics::ToTwist2d(
Eigen::Vector3d twistVector = m_forwardKinematics.solve(wheelDeltasVector);
return {wpi::units::meter_t{twistVector(0)}, wpi::units::meter_t{twistVector(1)},
return {wpi::units::meter_t{twistVector(0)},
wpi::units::meter_t{twistVector(1)},
wpi::units::radian_t{twistVector(2)}};
}
@@ -72,7 +73,8 @@ Twist2d MecanumDriveKinematics::ToTwist2d(
Eigen::Vector3d twistVector = m_forwardKinematics.solve(wheelDeltasVector);
return {wpi::units::meter_t{twistVector(0)}, wpi::units::meter_t{twistVector(1)},
return {wpi::units::meter_t{twistVector(0)},
wpi::units::meter_t{twistVector(1)},
wpi::units::radian_t{twistVector(2)}};
}

8
wpimath/src/main/native/cpp/kinematics/proto/ChassisSpeedsProto.cpp
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@@ -6,8 +6,8 @@
#include "wpimath/protobuf/kinematics.npb.h"
std::optional<wpi::math::ChassisSpeeds> wpi::util::Protobuf<wpi::math::ChassisSpeeds>::Unpack(
InputStream& stream) {
std::optional<wpi::math::ChassisSpeeds>
wpi::util::Protobuf<wpi::math::ChassisSpeeds>::Unpack(InputStream& stream) {
wpi_proto_ProtobufChassisSpeeds msg;
if (!stream.Decode(msg)) {
return {};
@@ -20,8 +20,8 @@ std::optional<wpi::math::ChassisSpeeds> wpi::util::Protobuf<wpi::math::ChassisSp
};
}
bool wpi::util::Protobuf<wpi::math::ChassisSpeeds>::Pack(OutputStream& stream,
const wpi::math::ChassisSpeeds& value) {
bool wpi::util::Protobuf<wpi::math::ChassisSpeeds>::Pack(
OutputStream& stream, const wpi::math::ChassisSpeeds& value) {
wpi_proto_ProtobufChassisSpeeds msg{
.vx = value.vx.value(),
.vy = value.vy.value(),

4
wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp
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@@ -6,8 +6,8 @@
#include "wpimath/protobuf/kinematics.npb.h"
std::optional<wpi::math::DifferentialDriveKinematics>
wpi::util::Protobuf<wpi::math::DifferentialDriveKinematics>::Unpack(InputStream& stream) {
std::optional<wpi::math::DifferentialDriveKinematics> wpi::util::Protobuf<
wpi::math::DifferentialDriveKinematics>::Unpack(InputStream& stream) {
wpi_proto_ProtobufDifferentialDriveKinematics msg;
if (!stream.Decode(msg)) {
return {};

3
wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp
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@@ -20,7 +20,8 @@ std::optional<wpi::math::DifferentialDriveWheelPositions> wpi::util::Protobuf<
}
bool wpi::util::Protobuf<wpi::math::DifferentialDriveWheelPositions>::Pack(
OutputStream& stream, const wpi::math::DifferentialDriveWheelPositions& value) {
OutputStream& stream,
const wpi::math::DifferentialDriveWheelPositions& value) {
wpi_proto_ProtobufDifferentialDriveWheelPositions msg{
.left = value.left.value(),
.right = value.right.value(),

7
wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProto.cpp
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@@ -6,8 +6,8 @@
#include "wpimath/protobuf/kinematics.npb.h"
std::optional<wpi::math::DifferentialDriveWheelSpeeds>
wpi::util::Protobuf<wpi::math::DifferentialDriveWheelSpeeds>::Unpack(InputStream& stream) {
std::optional<wpi::math::DifferentialDriveWheelSpeeds> wpi::util::Protobuf<
wpi::math::DifferentialDriveWheelSpeeds>::Unpack(InputStream& stream) {
wpi_proto_ProtobufDifferentialDriveWheelSpeeds msg;
if (!stream.Decode(msg)) {
return {};
@@ -20,7 +20,8 @@ wpi::util::Protobuf<wpi::math::DifferentialDriveWheelSpeeds>::Unpack(InputStream
}
bool wpi::util::Protobuf<wpi::math::DifferentialDriveWheelSpeeds>::Pack(
OutputStream& stream, const wpi::math::DifferentialDriveWheelSpeeds& value) {
OutputStream& stream,
const wpi::math::DifferentialDriveWheelSpeeds& value) {
wpi_proto_ProtobufDifferentialDriveWheelSpeeds msg{
.left = value.left.value(),
.right = value.right.value(),

4
wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.cpp
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@@ -7,8 +7,8 @@
#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
#include "wpimath/protobuf/kinematics.npb.h"
std::optional<wpi::math::MecanumDriveKinematics>
wpi::util::Protobuf<wpi::math::MecanumDriveKinematics>::Unpack(InputStream& stream) {
std::optional<wpi::math::MecanumDriveKinematics> wpi::util::Protobuf<
wpi::math::MecanumDriveKinematics>::Unpack(InputStream& stream) {
wpi::util::UnpackCallback<wpi::math::Translation2d> frontLeft;
wpi::util::UnpackCallback<wpi::math::Translation2d> frontRight;
wpi::util::UnpackCallback<wpi::math::Translation2d> rearLeft;

4
wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProto.cpp
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@@ -6,8 +6,8 @@
#include "wpimath/protobuf/kinematics.npb.h"
std::optional<wpi::math::MecanumDriveWheelPositions>
wpi::util::Protobuf<wpi::math::MecanumDriveWheelPositions>::Unpack(InputStream& stream) {
std::optional<wpi::math::MecanumDriveWheelPositions> wpi::util::Protobuf<
wpi::math::MecanumDriveWheelPositions>::Unpack(InputStream& stream) {
wpi_proto_ProtobufMecanumDriveWheelPositions msg;
if (!stream.Decode(msg)) {
return {};

4
wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProto.cpp
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@@ -6,8 +6,8 @@
#include "wpimath/protobuf/kinematics.npb.h"
std::optional<wpi::math::MecanumDriveWheelSpeeds>
wpi::util::Protobuf<wpi::math::MecanumDriveWheelSpeeds>::Unpack(InputStream& stream) {
std::optional<wpi::math::MecanumDriveWheelSpeeds> wpi::util::Protobuf<
wpi::math::MecanumDriveWheelSpeeds>::Unpack(InputStream& stream) {
wpi_proto_ProtobufMecanumDriveWheelSpeeds msg;
if (!stream.Decode(msg)) {
return {};

4
wpimath/src/main/native/cpp/kinematics/proto/SwerveModulePositionProto.cpp
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@@ -7,8 +7,8 @@
#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
#include "wpimath/protobuf/kinematics.npb.h"
std::optional<wpi::math::SwerveModulePosition>
wpi::util::Protobuf<wpi::math::SwerveModulePosition>::Unpack(InputStream& stream) {
std::optional<wpi::math::SwerveModulePosition> wpi::util::Protobuf<
wpi::math::SwerveModulePosition>::Unpack(InputStream& stream) {
wpi::util::UnpackCallback<wpi::math::Rotation2d> angle;
wpi_proto_ProtobufSwerveModulePosition msg{
.distance = 0,

9
wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp
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@@ -14,9 +14,12 @@ using StructType = wpi::util::Struct<wpi::math::ChassisSpeeds>;
wpi::math::ChassisSpeeds StructType::Unpack(std::span<const uint8_t> data) {
return wpi::math::ChassisSpeeds{
wpi::units::meters_per_second_t{wpi::util::UnpackStruct<double, kVxOff>(data)},
wpi::units::meters_per_second_t{wpi::util::UnpackStruct<double, kVyOff>(data)},
wpi::units::radians_per_second_t{wpi::util::UnpackStruct<double, kOmegaOff>(data)},
wpi::units::meters_per_second_t{
wpi::util::UnpackStruct<double, kVxOff>(data)},
wpi::units::meters_per_second_t{
wpi::util::UnpackStruct<double, kVyOff>(data)},
wpi::units::radians_per_second_t{
wpi::util::UnpackStruct<double, kOmegaOff>(data)},
};
}

3
wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
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@@ -13,7 +13,8 @@ using StructType = wpi::util::Struct<wpi::math::DifferentialDriveKinematics>;
wpi::math::DifferentialDriveKinematics StructType::Unpack(
std::span<const uint8_t> data) {
return wpi::math::DifferentialDriveKinematics{
wpi::units::meter_t{wpi::util::UnpackStruct<double, kTrackwidthOff>(data)},
wpi::units::meter_t{
wpi::util::UnpackStruct<double, kTrackwidthOff>(data)},
};
}

3
wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStruct.cpp
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@@ -9,7 +9,8 @@ constexpr size_t kLeftOff = 0;
constexpr size_t kRightOff = kLeftOff + 8;
} // namespace
using StructType = wpi::util::Struct<wpi::math::DifferentialDriveWheelPositions>;
using StructType =
wpi::util::Struct<wpi::math::DifferentialDriveWheelPositions>;
wpi::math::DifferentialDriveWheelPositions StructType::Unpack(
std::span<const uint8_t> data) {

6
wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp
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@@ -14,8 +14,10 @@ using StructType = wpi::util::Struct<wpi::math::DifferentialDriveWheelSpeeds>;
wpi::math::DifferentialDriveWheelSpeeds StructType::Unpack(
std::span<const uint8_t> data) {
return wpi::math::DifferentialDriveWheelSpeeds{
wpi::units::meters_per_second_t{wpi::util::UnpackStruct<double, kLeftOff>(data)},
wpi::units::meters_per_second_t{wpi::util::UnpackStruct<double, kRightOff>(data)},
wpi::units::meters_per_second_t{
wpi::util::UnpackStruct<double, kLeftOff>(data)},
wpi::units::meters_per_second_t{
wpi::util::UnpackStruct<double, kRightOff>(data)},
};
}

3
wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp
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@@ -16,7 +16,8 @@ constexpr size_t kRearRightOff =
using StructType = wpi::util::Struct<wpi::math::MecanumDriveKinematics>;
wpi::math::MecanumDriveKinematics StructType::Unpack(std::span<const uint8_t> data) {
wpi::math::MecanumDriveKinematics StructType::Unpack(
std::span<const uint8_t> data) {
return wpi::math::MecanumDriveKinematics{
wpi::util::UnpackStruct<wpi::math::Translation2d, kFrontLeftOff>(data),
wpi::util::UnpackStruct<wpi::math::Translation2d, kFrontRightOff>(data),

3
wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp
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@@ -17,7 +17,8 @@ wpi::math::MecanumDriveWheelPositions StructType::Unpack(
std::span<const uint8_t> data) {
return wpi::math::MecanumDriveWheelPositions{
wpi::units::meter_t{wpi::util::UnpackStruct<double, kFrontLeftOff>(data)},
wpi::units::meter_t{wpi::util::UnpackStruct<double, kFrontRightOff>(data)},
wpi::units::meter_t{
wpi::util::UnpackStruct<double, kFrontRightOff>(data)},
wpi::units::meter_t{wpi::util::UnpackStruct<double, kRearLeftOff>(data)},
wpi::units::meter_t{wpi::util::UnpackStruct<double, kRearRightOff>(data)},
};

6
wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp
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@@ -13,13 +13,15 @@ constexpr size_t kRearRightOff = kRearLeftOff + 8;
using StructType = wpi::util::Struct<wpi::math::MecanumDriveWheelSpeeds>;
wpi::math::MecanumDriveWheelSpeeds StructType::Unpack(std::span<const uint8_t> data) {
wpi::math::MecanumDriveWheelSpeeds StructType::Unpack(
std::span<const uint8_t> data) {
return wpi::math::MecanumDriveWheelSpeeds{
wpi::units::meters_per_second_t{
wpi::util::UnpackStruct<double, kFrontLeftOff>(data)},
wpi::units::meters_per_second_t{
wpi::util::UnpackStruct<double, kFrontRightOff>(data)},
wpi::units::meters_per_second_t{wpi::util::UnpackStruct<double, kRearLeftOff>(data)},
wpi::units::meters_per_second_t{
wpi::util::UnpackStruct<double, kRearLeftOff>(data)},
wpi::units::meters_per_second_t{
wpi::util::UnpackStruct<double, kRearRightOff>(data)},
};

3
wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp
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@@ -11,7 +11,8 @@ constexpr size_t kAngleOff = kDistanceOff + 8;
using StructType = wpi::util::Struct<wpi::math::SwerveModulePosition>;
wpi::math::SwerveModulePosition StructType::Unpack(std::span<const uint8_t> data) {
wpi::math::SwerveModulePosition StructType::Unpack(
std::span<const uint8_t> data) {
return wpi::math::SwerveModulePosition{
wpi::units::meter_t{wpi::util::UnpackStruct<double, kDistanceOff>(data)},
wpi::util::UnpackStruct<wpi::math::Rotation2d, kAngleOff>(data),

3
wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp
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@@ -13,7 +13,8 @@ using StructType = wpi::util::Struct<wpi::math::SwerveModuleState>;
wpi::math::SwerveModuleState StructType::Unpack(std::span<const uint8_t> data) {
return wpi::math::SwerveModuleState{
wpi::units::meters_per_second_t{wpi::util::UnpackStruct<double, kSpeedOff>(data)},
wpi::units::meters_per_second_t{
wpi::util::UnpackStruct<double, kSpeedOff>(data)},
wpi::util::UnpackStruct<wpi::math::Rotation2d, kAngleOff>(data),
};
}