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[wpimath] Add ChassisAccelerations and drivetrain accelerations classes and add forward and inverse kinematics for accelerations to the interface (#8185)

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ChassisAccelerations and the drivetrain acceleration types are added in
both Java and C++. `ChassisAccelerations` is basically just
`ChassisSpeeds` but for accelerations!
`DifferentialDriveWheelAccelerations`, `MecanumDriveWheelAccelerations`,
and `SwerveModuleAccelerations` are the acceleration equivalent of the
drivetrain speeds types.

In Java, the `Kinematics` interface now has an additional generic
parameter `A` which represents the accelerations, and
`toChassisAccelerations` and `toWheelAccelerations` methods, which are
implemented the same way as `toChassisSpeeds` and `toWheelSpeeds`.

Protobuf and struct classes were also added for all four classes in Java
and C++.

---------

Signed-off-by: Zach Harel <zach@zharel.me>
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Zach Harel
2025-12-08 19:25:07 -05:00
committed by GitHub
parent 44cf645632
commit 936be71a7d
101 changed files with 7041 additions and 523 deletions
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33
wpimath/src/main/native/cpp/kinematics/struct/ChassisAccelerationsStruct.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "wpi/math/kinematics/struct/ChassisAccelerationsStruct.hpp"
#include "wpi/math/kinematics/ChassisAccelerations.hpp"
#include "wpi/util/struct/Struct.hpp"
wpi::math::ChassisAccelerations wpi::util::Struct<
wpi::math::ChassisAccelerations>::Unpack(std::span<const uint8_t> data) {
constexpr size_t kAxOff = 0;
constexpr size_t kAyOff = kAxOff + 8;
constexpr size_t kAlphaOff = kAyOff + 8;
return wpi::math::ChassisAccelerations{
units::meters_per_second_squared_t{
wpi::util::UnpackStruct<double, kAxOff>(data)},
units::meters_per_second_squared_t{
wpi::util::UnpackStruct<double, kAyOff>(data)},
units::radians_per_second_squared_t{
wpi::util::UnpackStruct<double, kAlphaOff>(data)},
};
}
void wpi::util::Struct<wpi::math::ChassisAccelerations>::Pack(
std::span<uint8_t> data, const wpi::math::ChassisAccelerations& value) {
constexpr size_t kAxOff = 0;
constexpr size_t kAyOff = kAxOff + 8;
constexpr size_t kAlphaOff = kAyOff + 8;
wpi::util::PackStruct<kAxOff>(data, value.ax.value());
wpi::util::PackStruct<kAyOff>(data, value.ay.value());
wpi::util::PackStruct<kAlphaOff>(data, value.alpha.value());
}