SwerveTrapezoidalSpline Class Reference

#include <swerve_trapezoidal_spline.h>

Public Member Functions
	SwerveTrapezoidalSpline ()=delete
	SwerveTrapezoidalSpline (const frc::Spline< 3 >::ControlVector initialPosition, const units::degree_t initialAngle, const std::vector< frc::Translation2d > &waypoints, const frc::Spline< 3 >::ControlVector finalPosition, const units::degree_t finalAngle, const units::second_t turnDelay, const frc::TrapezoidProfile< units::inches >::Constraints linearConstraints, const units::feet_per_second_t initialVelocity=0_fps, const units::feet_per_second_t finalVelocity=0_fps)
	SwerveTrapezoidalSpline (const SwerveTrapezoidalSpline &other)=default
	SwerveTrapezoidalSpline (SwerveTrapezoidalSpline &&other)=default
SwerveTrapezoidalSpline &	operator= (const SwerveTrapezoidalSpline &)=delete
SwerveTrapezoidalSpline &	operator= (SwerveTrapezoidalSpline &&)=delete
frc::Trajectory::State	Calculate (units::second_t time) const
units::degree_t	HeadingSetpoint (units::second_t time) const
bool	IsFinished (units::second_t time) const
units::degree_t	GetEndAngle () const
units::degree_t	GetOdometryOffset () const
units::second_t	GetDriveTime () const
void	SetTurnDelay (units::second_t delay)
units::feet_per_second_t	GetXVelocity (const frc::Trajectory::State &state) const
units::feet_per_second_t	GetYVelocity (const frc::Trajectory::State &state) const

Private Attributes
frc::Trajectory	m_pathTrajectory
units::degree_t	m_initialAngle
units::degree_t	m_finalAngle
units::second_t	m_turnDelay

Detailed Description

Copyright

Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

Constructor & Destructor Documentation

SwerveTrapezoidalSpline() [1/4]

SwerveTrapezoidalSpline::SwerveTrapezoidalSpline ( )

delete

SwerveTrapezoidalSpline() [2/4]

SwerveTrapezoidalSpline::SwerveTrapezoidalSpline	(	const frc::Spline< 3 >::ControlVector	initialPosition,
		const units::degree_t	initialAngle,
		const std::vector< frc::Translation2d > &	waypoints,
		const frc::Spline< 3 >::ControlVector	finalPosition,
		const units::degree_t	finalAngle,
		const units::second_t	turnDelay,
		const frc::TrapezoidProfile< units::inches >::Constraints	linearConstraints,
		const units::feet_per_second_t	initialVelocity = 0_fps,
		const units::feet_per_second_t	finalVelocity = 0_fps
	)

Copyright

Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

SwerveTrapezoidalSpline() [3/4]

SwerveTrapezoidalSpline::SwerveTrapezoidalSpline ( const SwerveTrapezoidalSpline &  other )

default

SwerveTrapezoidalSpline() [4/4]

SwerveTrapezoidalSpline::SwerveTrapezoidalSpline ( SwerveTrapezoidalSpline &&  other )

default

Member Function Documentation

Calculate()

frc::Trajectory::State SwerveTrapezoidalSpline::Calculate

(

units::second_t

time

)

const

GetDriveTime()

units::second_t SwerveTrapezoidalSpline::GetDriveTime

(

)

const

GetEndAngle()

units::degree_t SwerveTrapezoidalSpline::GetEndAngle

(

)

const

GetOdometryOffset()

units::degree_t SwerveTrapezoidalSpline::GetOdometryOffset

(

)

const

GetXVelocity()

units::feet_per_second_t SwerveTrapezoidalSpline::GetXVelocity

(

const frc::Trajectory::State &

state

)

const

GetYVelocity()

units::feet_per_second_t SwerveTrapezoidalSpline::GetYVelocity

(

const frc::Trajectory::State &

state

)

const

HeadingSetpoint()

units::degree_t SwerveTrapezoidalSpline::HeadingSetpoint

(

units::second_t

time

)

const

IsFinished()

bool SwerveTrapezoidalSpline::IsFinished

(

units::second_t

time

)

const

operator=() [1/2]

SwerveTrapezoidalSpline & SwerveTrapezoidalSpline::operator= ( const SwerveTrapezoidalSpline &  )

delete

operator=() [2/2]

SwerveTrapezoidalSpline & SwerveTrapezoidalSpline::operator= ( SwerveTrapezoidalSpline &&  )

delete

SetTurnDelay()

void SwerveTrapezoidalSpline::SetTurnDelay

(

units::second_t

delay

)

Member Data Documentation

m_finalAngle

units::degree_t SwerveTrapezoidalSpline::m_finalAngle

private

m_initialAngle

units::degree_t SwerveTrapezoidalSpline::m_initialAngle

private

m_pathTrajectory

frc::Trajectory SwerveTrapezoidalSpline::m_pathTrajectory

private

m_turnDelay

units::second_t SwerveTrapezoidalSpline::m_turnDelay

private

---

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

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