ChassisVelocities Struct Reference

#include <chassis_velocities.h>

Description

Represents robot chassis velocities.

Public Member Functions
	ChassisVelocities (units::Velocity vx, units::Velocity vy, units::AngularVelocity omega)
ChassisVelocities	to_robot_relative (const Rotation2d &robotAngle) const
	Converts this field-relative set of velocities into a robot-relative ChassisVelocities object.
ChassisVelocities	to_field_relative (const Rotation2d &robotAngle) const
	Converts this robot-relative set of velocities into a field-relative ChassisVelocities object.
ChassisVelocities	discretize (units::Time dt) const
	Discretizes continuous-time chassis velocities.
ChassisVelocities	operator+ (const ChassisVelocities &other) const
ChassisVelocities	operator- (const ChassisVelocities &other) const
ChassisVelocities	operator- () const
ChassisVelocities	operator* (double scalar) const
ChassisVelocities	operator/ (double scalar) const
bool	operator== (const ChassisVelocities &other) const
bool	operator!= (const ChassisVelocities &other) const

Public Attributes
units::Velocity	vx = 0_inps
	Velocity along the x-axis. (Forward is positive).
units::Velocity	vy = 0_inps
	Velocity along the y-axis. (Left is positive).
units::AngularVelocity	omega = 0_radps
	Angular velocity of the robot frame. (Counter-Clockwise is positive).

Member Function Documentation

discretize()

ChassisVelocities ChassisVelocities::discretize ( units::Time dt ) const

inline

Discretizes continuous-time chassis velocities.

Compensates for translational skew when rotating a holonomic drivetrain. Converts the decoupled translation/rotation over a timestep into a constant-curvature trajectory representation.

Parameters

dt	The duration of the timestep.

Returns

Discretized ChassisVelocities.

to_field_relative()

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

inline

Converts this robot-relative set of velocities into a field-relative ChassisVelocities object.

Parameters

robotAngle

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

Returns

Field-relative ChassisVelocities.

to_robot_relative()

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

inline

Converts this field-relative set of velocities into a robot-relative ChassisVelocities object.

Parameters

robotAngle

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

Returns

Robot-relative ChassisVelocities.

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

• core/math/kinematics/chassis_velocities.h