choreo::DifferentialSample Class Reference

A single differential drive robot sample in a Trajectory. More...

#include <choreo/trajectory/DifferentialSample.h>

Public Member Functions
constexpr	DifferentialSample ()=default
	Constructs a DifferentialSample that is defaulted.
constexpr	DifferentialSample (units::second_t timestamp, units::meter_t x, units::meter_t y, units::radian_t heading, units::meters_per_second_t vl, units::meters_per_second_t vr, units::radians_per_second_t omega, units::meters_per_second_squared_t al, units::meters_per_second_squared_t ar, units::radians_per_second_squared_t alpha, units::newton_t fl, units::newton_t fr)
units::second_t	GetTimestamp () const
constexpr frc::Pose2d	GetPose () const
constexpr frc::ChassisSpeeds	GetChassisSpeeds () const
constexpr DifferentialSample	OffsetBy (units::second_t timeStampOffset) const
DifferentialSample	Interpolate (const DifferentialSample &endValue, units::second_t t) const
template<int Year = util::kDefaultYear>
constexpr DifferentialSample	Flipped () const
constexpr bool	operator== (const DifferentialSample &other) const

Public Attributes
units::second_t	timestamp = 0_s
	The timestamp of this sample relative to the beginning of the trajectory.
units::meter_t	x = 0_m
	The X position of the sample relative to the blue alliance wall origin.
units::meter_t	y = 0_m
	The Y position of the sample relative to the blue alliance wall origin.
units::radian_t	heading = 0_rad
	The heading of the sample, with 0 being in the +X direction.
units::meters_per_second_t	vl = 0_mps
	The velocity of the left wheels.
units::meters_per_second_t	vr = 0_mps
	The velocity of the right wheels.
units::radians_per_second_t	omega = 0_rad_per_s
	The chassis angular velocity.
units::meters_per_second_squared_t	al = 0_mps_sq
	The acceleration of the left wheels.
units::meters_per_second_squared_t	ar = 0_mps_sq
	The acceleration of the right wheels.
units::radians_per_second_squared_t	alpha = 0_rad_per_s_sq
	The chassis angular acceleration.
units::newton_t	fl = 0_N
	The force of the left wheels.
units::newton_t	fr = 0_N
	The force of the right wheels.

Detailed Description

A single differential drive robot sample in a Trajectory.

Constructor & Destructor Documentation

DifferentialSample()

constexpr choreo::DifferentialSample::DifferentialSample ( units::second_t  timestamp, units::meter_t  x, units::meter_t  y, units::radian_t  heading, units::meters_per_second_t  vl, units::meters_per_second_t  vr, units::radians_per_second_t  omega, units::meters_per_second_squared_t  al, units::meters_per_second_squared_t  ar, units::radians_per_second_squared_t  alpha, units::newton_t  fl, units::newton_t  fr  )

inlineconstexpr

Constructs a DifferentialSample with the specified parameters.

Parameters

timestamp	The timestamp of this sample, relative to the beginning of the trajectory.
x	The X position of the sample
y	The Y position of the sample
heading	The heading of the sample, with 0 being in the +X direction.
vl	The velocity of the left wheels
vr	The velocity of the right wheels
omega	The chassis angular velocity
al	The acceleration of the left wheels
ar	The acceleration of the left wheels
alpha	The chassis angular acceleration
fl	The force of the left wheels
fr	The force of the right wheels

Member Function Documentation

Flipped()

template<int Year = util::kDefaultYear>

constexpr DifferentialSample choreo::DifferentialSample::Flipped ( ) const

inlineconstexpr

Returns the current sample flipped based on the field year.

Template Parameters

Year	The field year.

Returns

DifferentialSample that is flipped based on the field layout.

GetChassisSpeeds()

constexpr frc::ChassisSpeeds choreo::DifferentialSample::GetChassisSpeeds ( ) const

inlineconstexpr

Gets the field-relative chassis speeds of the DifferentialSample.

Returns

The field-relative chassis speeds.

GetPose()

constexpr frc::Pose2d choreo::DifferentialSample::GetPose ( ) const

inlineconstexpr

Gets the Pose2d of the DifferentialSample.

Returns

The pose.

GetTimestamp()

units::second_t choreo::DifferentialSample::GetTimestamp ( ) const

inline

Gets the timestamp of the DifferentialSample.

Returns

The timestamp.

Interpolate()

DifferentialSample choreo::DifferentialSample::Interpolate ( const DifferentialSample &  endValue, units::second_t  t  ) const

inline

Interpolates between endValue and this by t

Parameters

endValue	the end interpolated value
t	time to move sample by

Returns

the interpolated sample

OffsetBy()

constexpr DifferentialSample choreo::DifferentialSample::OffsetBy ( units::second_t  timeStampOffset ) const

inlineconstexpr

Returns the current sample offset by a the time offset passed in.

Parameters

timeStampOffset

time to move sample by

Returns

DifferentialSample that is moved forward by the offset

operator==()

constexpr bool choreo::DifferentialSample::operator== ( const DifferentialSample &  other ) const

inlineconstexpr

DifferentialSample equality operator.

Parameters

other

The other DifferentialSample.

Returns

True for equality.

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

• src/main/native/include/choreo/trajectory/DifferentialSample.h