NextControl/dev.nextftc.control.geometry

Package-level declarations

Typed 2D geometry for robot pose and motion: Vector2d, Rotation2d, Pose2d, Twist2d, and Transform2d, along with local/global velocity and acceleration pairs (ChassisVelocities/PoseVelocity2d, ChassisAccelerations/PoseAcceleration2d) and the RobotState snapshot.

Types

ChassisAccelerations

data class ChassisAccelerations(val linearAcc: Vector2d<PerUnit<PerUnit<DistanceUnit, TimeUnit>, TimeUnit>>, val angAcc: AngularAcceleration)

ChassisVelocities

data class ChassisVelocities(val linearVel: Vector2d<PerUnit<DistanceUnit, TimeUnit>>, val angVel: AngularVelocity)

Pose2d

data class Pose2d(val position: Vector2d<DistanceUnit>, val heading: Rotation2d)

PoseAcceleration2d

data class PoseAcceleration2d(val linearAcc: Vector2d<PerUnit<PerUnit<DistanceUnit, TimeUnit>, TimeUnit>>, val angAcc: AngularAcceleration)

PoseVelocity2d

data class PoseVelocity2d(val linearVel: Vector2d<PerUnit<DistanceUnit, TimeUnit>>, val angVel: AngularVelocity)

RobotState

data class RobotState(val pose: Pose2d, val velocity: ChassisVelocities, val acceleration: ChassisAccelerations)

Rotation2d

data class Rotation2d(val real: Double, val imag: Double)

Transform2d

data class Transform2d(val translation: Vector2d<DistanceUnit>, val rotation: Rotation2d)

Twist2d

data class Twist2d(val line: Vector2d<DistanceUnit>, val angle: Double)

Vector2d

data class Vector2d<U : Unit<U>>(val x: Measure<U>, val y: Measure<U>)

Functions

times

@JvmName(name = "velTimesTime")

operator fun Vector2d<PerUnit<DistanceUnit, TimeUnit>>.times(other: Time): Vector2d<DistanceUnit>

@JvmName(name = "accelTimesTime")

operator fun Vector2d<PerUnit<PerUnit<DistanceUnit, TimeUnit>, TimeUnit>>.times(other: Time): Vector2d<PerUnit<DistanceUnit, TimeUnit>>