LifterKinematics Class Reference

#include <lifter_kinematics.h>

Public Member Functions
	LifterKinematics (const frc::Translation2d &fulcrumPosition, const units::meter_t armRotationOffset, const frc::Translation2d &effectorOffset, const frc::Translation2d &fixedBoomActuatorPosition, const frc::Translation2d &actuatedBoomActuatorPosition)
	Construct lifter kinematics object.
	LifterKinematics ()=delete
ArmState	GetJointsFromEffector (const frc::Translation2d &pose, bool effectorInverted) const
	Solves for the lifter joint from a desired effector state.
ArmState	GetJoints (const frc::Translation2d &pose) const
frc::Translation2d	GetEffectorPose (const ArmState &state, bool effectorInverted) const
	Solves for effector position based off of the lifter state.
frc::Translation2d	GetPose (const ArmState &state) const
units::inch_t	ShoulderAngleToBoomExtension (units::degree_t shoulderAngle) const
units::degree_t	BoomExtensionToShoulderAngle (units::inch_t boomExtension) const
units::velocity::inches_per_second_t	ShoulderVelocityToBoomVelocity (units::radians_per_second_t shoulderVelocity, units::degree_t shoulderAngle) const
units::radians_per_second_t	BoomVelocityToShoulderVelocity (units::velocity::inches_per_second_t boomVelocity, units::inch_t boomPosition) const

Private Member Functions
ArmState	GetJoints (const frc::Translation2d &pose, const frc::Translation2d &effectorOffset) const
frc::Translation2d	GetPose (const ArmState &state, const frc::Translation2d &effectorOffset) const

Private Attributes
const frc::Translation2d	m_fulcrumPosition
	Fulcrum position in robot coordinate space (y is actually z)
const units::meter_t	m_armRotationOffset
	Offset from center of lifter rotation axis to measure up point at end of arm in radial direction.
const frc::Translation2d	m_effectorOffset
	End effector offset from measure up point at end of arm. y is actually z. Measured when arm is at 0 deg.
const units::inch_t	m_fixedBoomAnchorToFulcrumDist
const units::degree_t	m_fixedBoomAnchorToFulcrumAngle
const units::inch_t	m_articulatedBoomAnchorToFulcrumDist
const units::degree_t	m_articulatedBoomAnchorToFulcrumAngle

Constructor & Destructor Documentation

LifterKinematics() [1/2]

LifterKinematics::LifterKinematics	(	const frc::Translation2d &	fulcrumPosition,
		const units::meter_t	armRotationOffset,
		const frc::Translation2d &	effectorOffset,
		const frc::Translation2d &	fixedBoomActuatorPosition,
		const frc::Translation2d &	actuatedBoomActuatorPosition
	)

Construct lifter kinematics object.

Parameters

fulcrumPosition	Fulcrum position in robot coordinate space (y is actually z)
armRotationOffset	Offset from center of lifter rotation axis to measure up point at end of arm in radial direction
effectorOffset	End effector offset from measure up point at end of arm. y is actually z. Measured when arm is at 0 deg

LifterKinematics() [2/2]

LifterKinematics::LifterKinematics ( )

delete

Member Function Documentation

BoomExtensionToShoulderAngle()

units::degree_t LifterKinematics::BoomExtensionToShoulderAngle

(

units::inch_t

boomExtension

)

const

BoomVelocityToShoulderVelocity()

units::radians_per_second_t LifterKinematics::BoomVelocityToShoulderVelocity	(	units::velocity::inches_per_second_t	boomVelocity,
		units::inch_t	boomPosition
	)		const

GetEffectorPose()

frc::Translation2d LifterKinematics::GetEffectorPose	(	const ArmState &	state,
		bool	effectorInverted
	)		const

Solves for effector position based off of the lifter state.

Parameters

state	ArmState struct containing current lifter state
effectorInverted	True indicates the wrist is rotated so end effector offsets are opposite y

Returns

Translation2d object describing position of effector in robot coordinate space

GetJoints() [1/2]

ArmState LifterKinematics::GetJoints

(

const frc::Translation2d &

pose

)

const

GetJoints() [2/2]

ArmState LifterKinematics::GetJoints ( const frc::Translation2d &  pose, const frc::Translation2d &  effectorOffset  ) const

private

GetJointsFromEffector()

ArmState LifterKinematics::GetJointsFromEffector	(	const frc::Translation2d &	pose,
		bool	effectorInverted
	)		const

Solves for the lifter joint from a desired effector state.

Parameters

pose	Desired effector position in robot coordinate space
effectorInverted	True indicates the wrist is rotated so end effector offsets are opposite y

Returns

LifterState object describing the state of the joint to get to desired point

GetPose() [1/2]

frc::Translation2d LifterKinematics::GetPose

(

const ArmState &

state

)

const

GetPose() [2/2]

frc::Translation2d LifterKinematics::GetPose ( const ArmState &  state, const frc::Translation2d &  effectorOffset  ) const

private

ShoulderAngleToBoomExtension()

units::inch_t LifterKinematics::ShoulderAngleToBoomExtension

(

units::degree_t

shoulderAngle

)

const

ShoulderVelocityToBoomVelocity()

units::velocity::inches_per_second_t LifterKinematics::ShoulderVelocityToBoomVelocity	(	units::radians_per_second_t	shoulderVelocity,
		units::degree_t	shoulderAngle
	)		const

Member Data Documentation

m_armRotationOffset

const units::meter_t LifterKinematics::m_armRotationOffset

private

Offset from center of lifter rotation axis to measure up point at end of arm in radial direction.

m_articulatedBoomAnchorToFulcrumAngle

const units::degree_t LifterKinematics::m_articulatedBoomAnchorToFulcrumAngle

private

m_articulatedBoomAnchorToFulcrumDist

const units::inch_t LifterKinematics::m_articulatedBoomAnchorToFulcrumDist

private

m_effectorOffset

const frc::Translation2d LifterKinematics::m_effectorOffset

private

End effector offset from measure up point at end of arm. y is actually z. Measured when arm is at 0 deg.

m_fixedBoomAnchorToFulcrumAngle

const units::degree_t LifterKinematics::m_fixedBoomAnchorToFulcrumAngle

private

m_fixedBoomAnchorToFulcrumDist

const units::inch_t LifterKinematics::m_fixedBoomAnchorToFulcrumDist

private

m_fulcrumPosition

const frc::Translation2d LifterKinematics::m_fulcrumPosition

private

Fulcrum position in robot coordinate space (y is actually z)

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

• src/main/include/utils/lifter_kinematics.h
• src/main/cpp/utils/lifter_kinematics.cpp