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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>
41 lines
1.8 KiB
C++
41 lines
1.8 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "wpi/math/kinematics/struct/MecanumDriveWheelAccelerationsStruct.hpp"
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#include "wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp"
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#include "wpi/util/struct/Struct.hpp"
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wpi::math::MecanumDriveWheelAccelerations
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wpi::util::Struct<wpi::math::MecanumDriveWheelAccelerations>::Unpack(
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std::span<const uint8_t> data) {
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constexpr size_t kFrontLeftOff = 0;
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constexpr size_t kFrontRightOff = kFrontLeftOff + 8;
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constexpr size_t kRearLeftOff = kFrontRightOff + 8;
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constexpr size_t kRearRightOff = kRearLeftOff + 8;
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return wpi::math::MecanumDriveWheelAccelerations{
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units::meters_per_second_squared_t{
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wpi::util::UnpackStruct<double, kFrontLeftOff>(data)},
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units::meters_per_second_squared_t{
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wpi::util::UnpackStruct<double, kFrontRightOff>(data)},
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units::meters_per_second_squared_t{
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wpi::util::UnpackStruct<double, kRearLeftOff>(data)},
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units::meters_per_second_squared_t{
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wpi::util::UnpackStruct<double, kRearRightOff>(data)},
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};
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}
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void wpi::util::Struct<wpi::math::MecanumDriveWheelAccelerations>::Pack(
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std::span<uint8_t> data,
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const wpi::math::MecanumDriveWheelAccelerations& value) {
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constexpr size_t kFrontLeftOff = 0;
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constexpr size_t kFrontRightOff = kFrontLeftOff + 8;
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constexpr size_t kRearLeftOff = kFrontRightOff + 8;
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constexpr size_t kRearRightOff = kRearLeftOff + 8;
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wpi::util::PackStruct<kFrontLeftOff>(data, value.frontLeft.value());
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wpi::util::PackStruct<kFrontRightOff>(data, value.frontRight.value());
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wpi::util::PackStruct<kRearLeftOff>(data, value.rearLeft.value());
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wpi::util::PackStruct<kRearRightOff>(data, value.rearRight.value());
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}
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