Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

24
wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml
View File

@@ -2,18 +2,22 @@ defaults:
subpackage: estimator
extra_includes:
- wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp
- wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
- wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
- wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp
- wpi/math/kinematics/MecanumDriveWheelPositions.hpp
- wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
- wpi/math/kinematics/SwerveModuleAcceleration.hpp
- wpi/math/kinematics/SwerveDriveKinematics.hpp
classes:
wpi::math::PoseEstimator:
template_params:
- WheelSpeeds
- WheelPositions
- WheelSpeeds
- WheelAccelerations
methods:
PoseEstimator:
SetVisionMeasurementStdDevs:
@@ -34,30 +38,36 @@ templates:
DifferentialDrivePoseEstimatorBase:
qualname: wpi::math::PoseEstimator
params:
- wpi::math::DifferentialDriveWheelSpeeds
- wpi::math::DifferentialDriveWheelPositions
- wpi::math::DifferentialDriveWheelSpeeds
- wpi::math::DifferentialDriveWheelAccelerations
MecanumDrivePoseEstimatorBase:
qualname: wpi::math::PoseEstimator
params:
- wpi::math::MecanumDriveWheelSpeeds
- wpi::math::MecanumDriveWheelPositions
- wpi::math::MecanumDriveWheelSpeeds
- wpi::math::MecanumDriveWheelAccelerations
SwerveDrive2PoseEstimatorBase:
qualname: wpi::math::PoseEstimator
params:
- wpi::util::array<wpi::math::SwerveModuleState,2>
- wpi::util::array<wpi::math::SwerveModulePosition,2>
- wpi::util::array<wpi::math::SwerveModuleState,2>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,2>
SwerveDrive3PoseEstimatorBase:
qualname: wpi::math::PoseEstimator
params:
- wpi::util::array<wpi::math::SwerveModuleState,3>
- wpi::util::array<wpi::math::SwerveModulePosition,3>
- wpi::util::array<wpi::math::SwerveModuleState,3>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,3>
SwerveDrive4PoseEstimatorBase:
qualname: wpi::math::PoseEstimator
params:
- wpi::util::array<wpi::math::SwerveModuleState,4>
- wpi::util::array<wpi::math::SwerveModulePosition,4>
- wpi::util::array<wpi::math::SwerveModuleState,4>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,4>
SwerveDrive6PoseEstimatorBase:
qualname: wpi::math::PoseEstimator
params:
- wpi::util::array<wpi::math::SwerveModuleState,6>
- wpi::util::array<wpi::math::SwerveModulePosition,6>
- wpi::util::array<wpi::math::SwerveModuleState,6>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,6>

24
wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml
View File

@@ -2,17 +2,21 @@ defaults:
subpackage: estimator
extra_includes:
- wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp
- wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
- wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
- wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp
- wpi/math/kinematics/MecanumDriveWheelPositions.hpp
- wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
- wpi/math/kinematics/SwerveModuleAcceleration.hpp
- wpi/math/kinematics/SwerveDriveKinematics.hpp
classes:
wpi::math::PoseEstimator3d:
template_params:
- WheelSpeeds
- WheelPositions
- WheelSpeeds
- WheelAccelerations
methods:
PoseEstimator3d:
SetVisionMeasurementStdDevs:
@@ -34,30 +38,36 @@ templates:
DifferentialDrivePoseEstimator3dBase:
qualname: wpi::math::PoseEstimator3d
params:
- wpi::math::DifferentialDriveWheelSpeeds
- wpi::math::DifferentialDriveWheelPositions
- wpi::math::DifferentialDriveWheelSpeeds
- wpi::math::DifferentialDriveWheelAccelerations
MecanumDrivePoseEstimator3dBase:
qualname: wpi::math::PoseEstimator3d
params:
- wpi::math::MecanumDriveWheelSpeeds
- wpi::math::MecanumDriveWheelPositions
- wpi::math::MecanumDriveWheelSpeeds
- wpi::math::MecanumDriveWheelAccelerations
SwerveDrive2PoseEstimator3dBase:
qualname: wpi::math::PoseEstimator3d
params:
- wpi::util::array<wpi::math::SwerveModuleState,2>
- wpi::util::array<wpi::math::SwerveModulePosition,2>
- wpi::util::array<wpi::math::SwerveModuleState,2>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,2>
SwerveDrive3PoseEstimator3dBase:
qualname: wpi::math::PoseEstimator3d
params:
- wpi::util::array<wpi::math::SwerveModuleState,3>
- wpi::util::array<wpi::math::SwerveModulePosition,3>
- wpi::util::array<wpi::math::SwerveModuleState,3>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,3>
SwerveDrive4PoseEstimator3dBase:
qualname: wpi::math::PoseEstimator3d
params:
- wpi::util::array<wpi::math::SwerveModuleState,4>
- wpi::util::array<wpi::math::SwerveModulePosition,4>
- wpi::util::array<wpi::math::SwerveModuleState,4>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,4>
SwerveDrive6PoseEstimator3dBase:
qualname: wpi::math::PoseEstimator3d
params:
- wpi::util::array<wpi::math::SwerveModuleState,6>
- wpi::util::array<wpi::math::SwerveModulePosition,6>
- wpi::util::array<wpi::math::SwerveModuleState,6>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,6>

17
wpimath/src/main/python/semiwrap/kinematics/ChassisAccelerations.yml Normal file
View File

@@ -0,0 +1,17 @@
classes:
wpi::math::ChassisAccelerations:
attributes:
ax:
ay:
alpha:
methods:
ToRobotRelative:
ToFieldRelative:
operator+:
operator-:
overloads:
const ChassisAccelerations& [const]:
'[const]':
operator*:
operator/:
operator==:

2
wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveKinematics.yml
View File

@@ -14,6 +14,8 @@ classes:
const wpi::units::meter_t, const wpi::units::meter_t [const]:
const DifferentialDriveWheelPositions&, const DifferentialDriveWheelPositions& [const]:
Interpolate:
ToChassisAccelerations:
ToWheelAccelerations:
inline_code: |
SetupWPyStruct<wpi::math::DifferentialDriveKinematics>(cls_DifferentialDriveKinematics);

14
wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelAccelerations.yml Normal file
View File

@@ -0,0 +1,14 @@
classes:
wpi::math::DifferentialDriveWheelAccelerations:
attributes:
left:
right:
methods:
operator+:
operator-:
overloads:
const DifferentialDriveWheelAccelerations& [const]:
'[const]':
operator*:
operator/:
operator==:

26
wpimath/src/main/python/semiwrap/kinematics/Kinematics.yml
View File

@@ -1,8 +1,11 @@
extra_includes:
- wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp
- wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
- wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
- wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp
- wpi/math/kinematics/MecanumDriveWheelPositions.hpp
- wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
- wpi/math/kinematics/SwerveModuleAcceleration.hpp
- wpi/math/kinematics/SwerveDriveKinematics.hpp
@@ -11,43 +14,52 @@ classes:
force_type_casters:
- wpi::util::array
template_params:
- WheelSpeeds
- WheelPositions
- WheelSpeeds
- WheelAccelerations
methods:
ToChassisSpeeds:
ToWheelSpeeds:
ToTwist2d:
Interpolate:
ToChassisAccelerations:
ToWheelAccelerations:
templates:
DifferentialDriveKinematicsBase:
qualname: wpi::math::Kinematics
params:
- wpi::math::DifferentialDriveWheelSpeeds
- wpi::math::DifferentialDriveWheelPositions
- wpi::math::DifferentialDriveWheelSpeeds
- wpi::math::DifferentialDriveWheelAccelerations
MecanumDriveKinematicsBase:
qualname: wpi::math::Kinematics
params:
- wpi::math::MecanumDriveWheelSpeeds
- wpi::math::MecanumDriveWheelPositions
- wpi::math::MecanumDriveWheelSpeeds
- wpi::math::MecanumDriveWheelAccelerations
SwerveDrive2KinematicsBase:
qualname: wpi::math::Kinematics
params:
- wpi::util::array<wpi::math::SwerveModuleState,2>
- wpi::util::array<wpi::math::SwerveModulePosition,2>
- wpi::util::array<wpi::math::SwerveModuleState,2>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,2>
SwerveDrive3KinematicsBase:
qualname: wpi::math::Kinematics
params:
- wpi::util::array<wpi::math::SwerveModuleState,3>
- wpi::util::array<wpi::math::SwerveModulePosition,3>
- wpi::util::array<wpi::math::SwerveModuleState,3>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,3>
SwerveDrive4KinematicsBase:
qualname: wpi::math::Kinematics
params:
- wpi::util::array<wpi::math::SwerveModuleState,4>
- wpi::util::array<wpi::math::SwerveModulePosition,4>
- wpi::util::array<wpi::math::SwerveModuleState,4>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,4>
SwerveDrive6KinematicsBase:
qualname: wpi::math::Kinematics
params:
- wpi::util::array<wpi::math::SwerveModuleState,6>
- wpi::util::array<wpi::math::SwerveModulePosition,6>
- wpi::util::array<wpi::math::SwerveModuleState,6>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,6>

5
wpimath/src/main/python/semiwrap/kinematics/MecanumDriveKinematics.yml
View File

@@ -45,6 +45,11 @@ classes:
GetRearLeft:
GetRearRight:
Interpolate:
ToChassisAccelerations:
ToWheelAccelerations:
overloads:
const ChassisAccelerations&, const Translation2d& [const]:
const ChassisAccelerations& [const]:
inline_code: |
SetupWPyStruct<wpi::math::MecanumDriveKinematics>(cls_MecanumDriveKinematics);

16
wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelAccelerations.yml Normal file
View File

@@ -0,0 +1,16 @@
classes:
wpi::math::MecanumDriveWheelAccelerations:
attributes:
frontLeft:
frontRight:
rearLeft:
rearRight:
methods:
operator+:
operator-:
overloads:
const MecanumDriveWheelAccelerations& [const]:
'[const]':
operator*:
operator/:
operator==:

24
wpimath/src/main/python/semiwrap/kinematics/Odometry.yml
View File

@@ -1,15 +1,19 @@
extra_includes:
- wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp
- wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
- wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
- wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp
- wpi/math/kinematics/MecanumDriveWheelPositions.hpp
- wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
- wpi/math/kinematics/SwerveModuleAcceleration.hpp
- wpi/math/kinematics/SwerveDriveKinematics.hpp
classes:
wpi::math::Odometry:
template_params:
- WheelSpeeds
- WheelPositions
- WheelSpeeds
- WheelAccelerations
methods:
Odometry:
ResetPosition:
@@ -23,30 +27,36 @@ templates:
DifferentialDriveOdometryBase:
qualname: wpi::math::Odometry
params:
- wpi::math::DifferentialDriveWheelSpeeds
- wpi::math::DifferentialDriveWheelPositions
- wpi::math::DifferentialDriveWheelSpeeds
- wpi::math::DifferentialDriveWheelAccelerations
MecanumDriveOdometryBase:
qualname: wpi::math::Odometry
params:
- wpi::math::MecanumDriveWheelSpeeds
- wpi::math::MecanumDriveWheelPositions
- wpi::math::MecanumDriveWheelSpeeds
- wpi::math::MecanumDriveWheelAccelerations
SwerveDrive2OdometryBase:
qualname: wpi::math::Odometry
params:
- wpi::util::array<wpi::math::SwerveModuleState,2>
- wpi::util::array<wpi::math::SwerveModulePosition,2>
- wpi::util::array<wpi::math::SwerveModuleState,2>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,2>
SwerveDrive3OdometryBase:
qualname: wpi::math::Odometry
params:
- wpi::util::array<wpi::math::SwerveModuleState,3>
- wpi::util::array<wpi::math::SwerveModulePosition,3>
- wpi::util::array<wpi::math::SwerveModuleState,3>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,3>
SwerveDrive4OdometryBase:
qualname: wpi::math::Odometry
params:
- wpi::util::array<wpi::math::SwerveModuleState,4>
- wpi::util::array<wpi::math::SwerveModulePosition,4>
- wpi::util::array<wpi::math::SwerveModuleState,4>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,4>
SwerveDrive6OdometryBase:
qualname: wpi::math::Odometry
params:
- wpi::util::array<wpi::math::SwerveModuleState,6>
- wpi::util::array<wpi::math::SwerveModulePosition,6>
- wpi::util::array<wpi::math::SwerveModuleState,6>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,6>

24
wpimath/src/main/python/semiwrap/kinematics/Odometry3d.yml
View File

@@ -1,15 +1,19 @@
extra_includes:
- wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp
- wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
- wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
- wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp
- wpi/math/kinematics/MecanumDriveWheelPositions.hpp
- wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
- wpi/math/kinematics/SwerveModuleAcceleration.hpp
- wpi/math/kinematics/SwerveDriveKinematics.hpp
classes:
wpi::math::Odometry3d:
template_params:
- WheelSpeeds
- WheelPositions
- WheelSpeeds
- WheelAccelerations
methods:
Odometry3d:
ResetPosition:
@@ -24,30 +28,36 @@ templates:
DifferentialDriveOdometry3dBase:
qualname: wpi::math::Odometry3d
params:
- wpi::math::DifferentialDriveWheelSpeeds
- wpi::math::DifferentialDriveWheelPositions
- wpi::math::DifferentialDriveWheelSpeeds
- wpi::math::DifferentialDriveWheelAccelerations
MecanumDriveOdometry3dBase:
qualname: wpi::math::Odometry3d
params:
- wpi::math::MecanumDriveWheelSpeeds
- wpi::math::MecanumDriveWheelPositions
- wpi::math::MecanumDriveWheelSpeeds
- wpi::math::MecanumDriveWheelAccelerations
SwerveDrive2Odometry3dBase:
qualname: wpi::math::Odometry3d
params:
- wpi::util::array<wpi::math::SwerveModuleState,2>
- wpi::util::array<wpi::math::SwerveModulePosition,2>
- wpi::util::array<wpi::math::SwerveModuleState,2>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,2>
SwerveDrive3Odometry3dBase:
qualname: wpi::math::Odometry3d
params:
- wpi::util::array<wpi::math::SwerveModuleState,3>
- wpi::util::array<wpi::math::SwerveModulePosition,3>
- wpi::util::array<wpi::math::SwerveModuleState,3>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,3>
SwerveDrive4Odometry3dBase:
qualname: wpi::math::Odometry3d
params:
- wpi::util::array<wpi::math::SwerveModuleState,4>
- wpi::util::array<wpi::math::SwerveModulePosition,4>
- wpi::util::array<wpi::math::SwerveModuleState,4>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,4>
SwerveDrive6Odometry3dBase:
qualname: wpi::math::Odometry3d
params:
- wpi::util::array<wpi::math::SwerveModuleState,6>
- wpi::util::array<wpi::math::SwerveModulePosition,6>
- wpi::util::array<wpi::math::SwerveModuleState,6>
- wpi::util::array<wpi::math::SwerveModuleAcceleration,6>

7
wpimath/src/main/python/semiwrap/kinematics/SwerveDriveKinematics.yml
View File

@@ -77,6 +77,13 @@ classes:
Interpolate:
GetModules:
ToSwerveModuleAccelerations:
ToWheelAccelerations:
ToChassisAccelerations:
overloads:
ModuleAccelerations&&... [const]:
ignore: true
const wpi::util::array<SwerveModuleAcceleration, NumModules>& [const]:
template_inline_code: |
if constexpr (NumModules == 2) {

14
wpimath/src/main/python/semiwrap/kinematics/SwerveModuleAcceleration.yml Normal file
View File

@@ -0,0 +1,14 @@
classes:
wpi::math::SwerveModuleAcceleration:
attributes:
acceleration:
angle:
methods:
operator==:
operator+:
operator-:
overloads:
const SwerveModuleAcceleration& [const]:
'[const]':
operator*:
operator/: