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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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26
wpimath/src/main/python/semiwrap/kinematics/Kinematics.yml
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@@ -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>