mirror of
https://github.com/wpilibsuite/allwpilib
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936be71a7d
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>
66 lines
2.2 KiB
YAML
66 lines
2.2 KiB
YAML
extra_includes:
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- wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp
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- wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
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- wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
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- wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp
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- wpi/math/kinematics/MecanumDriveWheelPositions.hpp
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- wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
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- wpi/math/kinematics/SwerveModuleAcceleration.hpp
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- wpi/math/kinematics/SwerveDriveKinematics.hpp
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classes:
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wpi::math::Kinematics:
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force_type_casters:
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- wpi::util::array
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template_params:
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- WheelPositions
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- WheelSpeeds
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- WheelAccelerations
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methods:
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ToChassisSpeeds:
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ToWheelSpeeds:
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ToTwist2d:
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Interpolate:
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ToChassisAccelerations:
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ToWheelAccelerations:
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templates:
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DifferentialDriveKinematicsBase:
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qualname: wpi::math::Kinematics
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params:
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- wpi::math::DifferentialDriveWheelPositions
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- wpi::math::DifferentialDriveWheelSpeeds
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- wpi::math::DifferentialDriveWheelAccelerations
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MecanumDriveKinematicsBase:
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qualname: wpi::math::Kinematics
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params:
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- wpi::math::MecanumDriveWheelPositions
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- wpi::math::MecanumDriveWheelSpeeds
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- wpi::math::MecanumDriveWheelAccelerations
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SwerveDrive2KinematicsBase:
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qualname: wpi::math::Kinematics
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params:
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- wpi::util::array<wpi::math::SwerveModulePosition,2>
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- wpi::util::array<wpi::math::SwerveModuleState,2>
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- wpi::util::array<wpi::math::SwerveModuleAcceleration,2>
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SwerveDrive3KinematicsBase:
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qualname: wpi::math::Kinematics
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params:
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- wpi::util::array<wpi::math::SwerveModulePosition,3>
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- wpi::util::array<wpi::math::SwerveModuleState,3>
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- wpi::util::array<wpi::math::SwerveModuleAcceleration,3>
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SwerveDrive4KinematicsBase:
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qualname: wpi::math::Kinematics
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params:
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- wpi::util::array<wpi::math::SwerveModulePosition,4>
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- wpi::util::array<wpi::math::SwerveModuleState,4>
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- wpi::util::array<wpi::math::SwerveModuleAcceleration,4>
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SwerveDrive6KinematicsBase:
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qualname: wpi::math::Kinematics
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params:
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- wpi::util::array<wpi::math::SwerveModulePosition,6>
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- wpi::util::array<wpi::math::SwerveModuleState,6>
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- wpi::util::array<wpi::math::SwerveModuleAcceleration,6>
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