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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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wpimath/src/main/python/pyproject.toml
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@@ -1529,17 +1529,20 @@ yaml_path = "semiwrap/kinematics"
[tool.semiwrap.extension_modules."wpimath.kinematics._kinematics".headers]
# wpi/math/kinematics
ChassisSpeeds = "wpi/math/kinematics/ChassisSpeeds.hpp"
ChassisAccelerations = "wpi/math/kinematics/ChassisAccelerations.hpp"
DifferentialDriveKinematics = "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
DifferentialDriveOdometry3d = "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"
DifferentialDriveOdometry = "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
DifferentialDriveWheelPositions = "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
DifferentialDriveWheelSpeeds = "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
DifferentialDriveWheelAccelerations = "wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp"
Kinematics = "wpi/math/kinematics/Kinematics.hpp"
MecanumDriveKinematics = "wpi/math/kinematics/MecanumDriveKinematics.hpp"
MecanumDriveOdometry = "wpi/math/kinematics/MecanumDriveOdometry.hpp"
MecanumDriveOdometry3d = "wpi/math/kinematics/MecanumDriveOdometry3d.hpp"
MecanumDriveWheelPositions = "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
MecanumDriveWheelSpeeds = "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
MecanumDriveWheelAccelerations = "wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp"
Odometry = "wpi/math/kinematics/Odometry.hpp"
Odometry3d = "wpi/math/kinematics/Odometry3d.hpp"
SwerveDriveKinematics = "wpi/math/kinematics/SwerveDriveKinematics.hpp"
@@ -1547,6 +1550,7 @@ SwerveDriveOdometry = "wpi/math/kinematics/SwerveDriveOdometry.hpp"
SwerveDriveOdometry3d = "wpi/math/kinematics/SwerveDriveOdometry3d.hpp"
SwerveModulePosition = "wpi/math/kinematics/SwerveModulePosition.hpp"
SwerveModuleState = "wpi/math/kinematics/SwerveModuleState.hpp"
SwerveModuleAcceleration = "wpi/math/kinematics/SwerveModuleAcceleration.hpp"
[tool.semiwrap.extension_modules."wpimath.spline._spline"]