choreo::SwerveSample Class Reference

#include <choreo/trajectory/SwerveSample.h>

Public Member Functions
constexpr	SwerveSample ()=default
constexpr	SwerveSample (units::second_t timestamp, units::meter_t x, units::meter_t y, units::radian_t heading, units::meters_per_second_t vx, units::meters_per_second_t vy, units::radians_per_second_t omega, units::meters_per_second_squared_t ax, units::meters_per_second_squared_t ay, units::radians_per_second_squared_t alpha, std::array< units::newton_t, 4 > moduleForcesX, std::array< units::newton_t, 4 > moduleForcesY)
constexpr units::second_t	GetTimestamp () const
constexpr frc::Pose2d	GetPose () const
constexpr frc::ChassisSpeeds	GetChassisSpeeds () const
template<int Year = util::kDefaultYear>
constexpr SwerveSample	Flipped () const
constexpr SwerveSample	OffsetBy (units::second_t timeStampOffset) const
constexpr SwerveSample	Interpolate (const SwerveSample &endValue, units::second_t t) const
constexpr bool	operator== (const SwerveSample &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	vx = 0_mps
	The velocity of the sample in the X direction.
units::meters_per_second_t	vy = 0_mps
	The velocity of the sample in the Y direction.
units::radians_per_second_t	omega = 0_rad_per_s
	The angular velocity of the sample.
units::meters_per_second_squared_t	ax = 0_mps_sq
	The acceleration of the in the X direction.
units::meters_per_second_squared_t	ay = 0_mps_sq
	The acceleration of the in the Y direction.
units::radians_per_second_squared_t	alpha = 0_rad_per_s_sq
	The angular acceleration of the sample.
std::array< units::newton_t, 4 >	moduleForcesX {0_N, 0_N, 0_N, 0_N}
std::array< units::newton_t, 4 >	moduleForcesY {0_N, 0_N, 0_N, 0_N}

Detailed Description

A single swerve robot sample in a Trajectory.

Constructor & Destructor Documentation

SwerveSample() [1/2]

constexpr choreo::SwerveSample::SwerveSample ( )

constexprdefault

Constructs a SwerveSample that is defaulted.

SwerveSample() [2/2]

constexpr choreo::SwerveSample::SwerveSample ( units::second_t  timestamp, units::meter_t  x, units::meter_t  y, units::radian_t  heading, units::meters_per_second_t  vx, units::meters_per_second_t  vy, units::radians_per_second_t  omega, units::meters_per_second_squared_t  ax, units::meters_per_second_squared_t  ay, units::radians_per_second_squared_t  alpha, std::array< units::newton_t, 4 >  moduleForcesX, std::array< units::newton_t, 4 >  moduleForcesY  )

inlineconstexpr

Constructs a SwerveSample 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.
vx	The velocity of the sample in the X direction.
vy	The velocity of the sample in the Y direction.
omega	The angular velocity of the sample.
ax	The acceleration of the sample in the X direction.
ay	The acceleration of the sample in the Y direction.
alpha	The angular acceleration of the sample.
moduleForcesX	The force on each swerve module in the X direction. Module forces appear in the following order: [FL, FR, BL, BR].
moduleForcesY	The force on each swerve module in the Y direction. Module forces appear in the following order: [FL, FR, BL, BR].

Member Function Documentation

Flipped()

template<int Year = util::kDefaultYear>

constexpr SwerveSample choreo::SwerveSample::Flipped ( ) const

inlineconstexpr

Returns the current sample flipped based on the field year.

Template Parameters

Year	The field year.

Returns

SwerveSample that is flipped based on the field layout.

GetChassisSpeeds()

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

inlineconstexpr

Gets the field-relative chassis speeds of the SwerveSample.

Returns

The field-relative chassis speeds.

GetPose()

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

inlineconstexpr

Gets the Pose2d of the SwerveSample.

Returns

The pose.

GetTimestamp()

constexpr units::second_t choreo::SwerveSample::GetTimestamp ( ) const

inlineconstexpr

Gets the timestamp of the SwerveSample.

Returns

The timestamp.

Interpolate()

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

inlineconstexpr

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 SwerveSample choreo::SwerveSample::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

SwerveSample that is moved forward by the offset

operator==()

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

inlineconstexpr

SwerveSample equality operator.

Parameters

other

The other SwerveSample.

Returns

True for equality.

Member Data Documentation

moduleForcesX

std::array<units::newton_t, 4> choreo::SwerveSample::moduleForcesX {0_N, 0_N, 0_N, 0_N}

The force on each swerve module in the X direction. Module forces appear in the following order: [FL, FR, BL, BR].

moduleForcesY

std::array<units::newton_t, 4> choreo::SwerveSample::moduleForcesY {0_N, 0_N, 0_N, 0_N}

The force on each swerve module in the Y direction. Module forces appear in the following order: [FL, FR, BL, BR].

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

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