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Template C++ TrapezoidProfile and ProfiledPIDController on units (#2109)

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This commit is contained in:
Oblarg
2019-11-20 23:11:46 -05:00
committed by Peter Johnson
parent f62e23f1af
commit fa85fbfc1c
16 changed files with 320 additions and 448 deletions
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24
wpilibc/src/main/native/include/frc/trajectory/TrapezoidProfile.h
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@@ -40,18 +40,27 @@ namespace frc {
* `Calculate()` and to determine when the profile has completed via
* `IsFinished()`.
*/
template <class Distance>
class TrapezoidProfile {
using Distance_t = units::unit_t<Distance>;
using Velocity =
units::compound_unit<Distance, units::inverse<units::seconds>>;
using Velocity_t = units::unit_t<Velocity>;
using Acceleration =
units::compound_unit<Velocity, units::inverse<units::seconds>>;
using Acceleration_t = units::unit_t<Acceleration>;
public:
class Constraints {
public:
units::meters_per_second_t maxVelocity = 0_mps;
units::meters_per_second_squared_t maxAcceleration = 0_mps_sq;
Velocity_t maxVelocity{0};
Acceleration_t maxAcceleration{0};
};
class State {
public:
units::meter_t position = 0_m;
units::meters_per_second_t velocity = 0_mps;
Distance_t position{0};
Velocity_t velocity{0};
bool operator==(const State& rhs) const {
return position == rhs.position && velocity == rhs.velocity;
}
@@ -66,7 +75,7 @@ class TrapezoidProfile {
* @param initial The initial state (usually the current state).
*/
TrapezoidProfile(Constraints constraints, State goal,
State initial = State{0_m, 0_mps});
State initial = State{Distance_t(0), Velocity_t(0)});
TrapezoidProfile(const TrapezoidProfile&) = default;
TrapezoidProfile& operator=(const TrapezoidProfile&) = default;
@@ -86,7 +95,7 @@ class TrapezoidProfile {
*
* @param target The target distance.
*/
units::second_t TimeLeftUntil(units::meter_t target) const;
units::second_t TimeLeftUntil(Distance_t target) const;
/**
* Returns the total time the profile takes to reach the goal.
@@ -135,5 +144,6 @@ class TrapezoidProfile {
units::second_t m_endFullSpeed;
units::second_t m_endDeccel;
};
} // namespace frc
#include "TrapezoidProfile.inc"