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[wpiutil] Add angular acceleration units (#2562)

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We already have predefined linear acceleration units and angular
velocity units. This makes defining acceleration constraints for angular
trapezoid profiles more convenient.

No tests were added for this because the base unit conversions are
already tested. Angular acceleration just adds another time dimension.
This commit is contained in:
Tyler Veness
2020-07-01 17:16:08 -07:00
committed by GitHub
parent b1353e4d6e
commit 5ccc98bc14
4 changed files with 40 additions and 0 deletions
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35
wpiutil/src/main/native/include/units/angular_acceleration.h Normal file
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@@ -0,0 +1,35 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "units/angular_velocity.h"
#include "units/base.h"
#include "units/time.h"
namespace units {
/**
* @namespace units::angular_acceleration
* @brief namespace for unit types and containers representing angular
* acceleration values
* @details The SI unit for angular acceleration is
* `radians_per_second_squared`, and the corresponding `base_unit`
* category is`angular_acceleration_unit`.
* @anchor angularAccelerationContainers
* @sa See unit_t for more information on unit type containers.
*/
UNIT_ADD(angular_acceleration, radians_per_second_squared,
radians_per_second_squared, rad_per_s_sq,
unit<std::ratio<1>, units::category::angular_acceleration_unit>)
UNIT_ADD(angular_acceleration, degrees_per_second_squared,
degrees_per_second_squared, deg_per_s_sq,
compound_unit<angle::degrees, inverse<squared<time::seconds>>>)
UNIT_ADD_CATEGORY_TRAIT(angular_acceleration)
using namespace angular_acceleration;
} // namespace units

1
wpiutil/src/main/native/include/units/base.h
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@@ -774,6 +774,7 @@ namespace units
typedef base_unit<detail::meter_ratio<1>, std::ratio<0>, std::ratio<-1>> velocity_unit; ///< Represents an SI derived unit of velocity
typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-1>, std::ratio<1>> angular_velocity_unit; ///< Represents an SI derived unit of angular velocity
typedef base_unit<detail::meter_ratio<1>, std::ratio<0>, std::ratio<-2>> acceleration_unit; ///< Represents an SI derived unit of acceleration
typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-2>, std::ratio<1>> angular_acceleration_unit; ///< Represents an SI derived unit of angular acceleration
typedef base_unit<detail::meter_ratio<1>, std::ratio<1>, std::ratio<-2>> force_unit; ///< Represents an SI derived unit of force
typedef base_unit<detail::meter_ratio<-1>, std::ratio<1>, std::ratio<-2>> pressure_unit; ///< Represents an SI derived unit of pressure
typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<1>, std::ratio<0>, std::ratio<1>> charge_unit; ///< Represents an SI derived unit of charge

1
wpiutil/src/main/native/include/units/units.h
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@@ -18,6 +18,7 @@
#include "units/acceleration.h"
#include "units/angle.h"
#include "units/angular_acceleration.h"
#include "units/angular_velocity.h"
#include "units/area.h"
#include "units/capacitance.h"