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[wpimath] Rename HolonomicDriveController.calculate params (#4683)

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Starlight220
2022-11-24 09:13:50 +02:00
committed by GitHub
parent 2ee3d86de4
commit d5200db6cd
3 changed files with 53 additions and 48 deletions
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36
wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h
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@@ -61,32 +61,32 @@ class WPILIB_DLLEXPORT HolonomicDriveController {
/**
* Returns the next output of the holonomic drive controller.
*
* The reference pose, linear velocity, and angular velocity should come from
* a drivetrain trajectory.
*
* @param currentPose The current pose.
* @param poseRef The desired pose.
* @param linearVelocityRef The desired linear velocity.
* @param angleRef The desired ending angle.
* @param currentPose The current pose, as measured by odometry or pose
* estimator.
* @param trajectoryPose The desired trajectory pose, as sampled for the
* current timestep.
* @param desiredLinearVelocity The desired linear velocity.
* @param desiredHeading The desired heading.
* @return The next output of the holonomic drive controller.
*/
ChassisSpeeds Calculate(const Pose2d& currentPose, const Pose2d& poseRef,
units::meters_per_second_t linearVelocityRef,
const Rotation2d& angleRef);
ChassisSpeeds Calculate(const Pose2d& currentPose,
const Pose2d& trajectoryPose,
units::meters_per_second_t desiredLinearVelocity,
const Rotation2d& desiredHeading);
/**
* Returns the next output of the holonomic drive controller.
*
* The reference pose, linear velocity, and angular velocity should come from
* a drivetrain trajectory.
*
* @param currentPose The current pose.
* @param desiredState The desired pose, linear velocity, and angular velocity
* from a trajectory.
* @param angleRef The desired ending angle.
* @param currentPose The current pose, as measured by odometry or pose
* estimator.
* @param desiredState The desired trajectory pose, as sampled for the current
* timestep.
* @param desiredHeading The desired heading.
* @return The next output of the holonomic drive controller.
*/
ChassisSpeeds Calculate(const Pose2d& currentPose,
const Trajectory::State& desiredState,
const Rotation2d& angleRef);
const Rotation2d& desiredHeading);
/**
* Enables and disables the controller for troubleshooting purposes. When