Description

Represents robot chassis accelerations.

Public Member Functions
	ChassisAccelerations (units::Acceleration ax, units::Acceleration ay, units::AngularAcceleration alpha)
ChassisAccelerations	to_robot_relative (const Rotation2d &robotAngle) const
	Converts this field-relative set of accelerations into a robot-relative ChassisAccelerations object.
ChassisAccelerations	to_field_relative (const Rotation2d &robotAngle) const
	Converts this robot-relative set of accelerations into a field-relative ChassisAccelerations object.
ChassisAccelerations	operator+ (const ChassisAccelerations &other) const
ChassisAccelerations	operator- (const ChassisAccelerations &other) const
ChassisAccelerations	operator- () const
ChassisAccelerations	operator* (double scalar) const
ChassisAccelerations	operator/ (double scalar) const
bool	operator== (const ChassisAccelerations &other) const
bool	operator!= (const ChassisAccelerations &other) const

Public Attributes
units::Acceleration	ax = 0_inps2
	Acceleration along the x-axis. (Forward is positive).
units::Acceleration	ay = 0_inps2
	Acceleration along the y-axis. (Left is positive).
units::AngularAcceleration	alpha = 0_radps2
	Angular acceleration of the robot frame. (Counter-Clockwise is positive).

Member Function Documentation

ChassisAccelerations ChassisAccelerations::to_field_relative ( const Rotation2d & robotAngle ) const

inline

Converts this robot-relative set of accelerations into a field-relative ChassisAccelerations object.

Parameters

robotAngle The CCW-positive angle of the robot relative to the field.

ChassisAccelerations ChassisAccelerations::to_robot_relative ( const Rotation2d & robotAngle ) const

inline

Converts this field-relative set of accelerations into a robot-relative ChassisAccelerations object.

Parameters

robotAngle The CCW-positive angle of the robot relative to the field.

The documentation for this struct was generated from the following file: