ChassisAccelerations Struct Reference

Represents robot chassis accelerations. More...

#include <chassis_accelerations.h>

Public Member Functions
ChassisAccelerations	to_robot_relative (const Rotation2d &robotAngle) const
	Converts this field-relative set of accelerations into a robot-relative ChassisAccelerations object.
ChassisAccelerations	to_field_relative (const Rotation2d &robotAngle) const
	Converts this robot-relative set of accelerations into a field-relative ChassisAccelerations object.

Public Attributes
units::Acceleration	ax = 0_inps2
	Acceleration along the x-axis. (Forward is positive).
units::Acceleration	ay = 0_inps2
	Acceleration along the y-axis. (Left is positive).
units::AngularAcceleration	alpha = 0_radps2
	Angular acceleration of the robot frame. (Counter-Clockwise is positive).

Detailed Description

Represents robot chassis accelerations.

Member Function Documentation

to_field_relative()

ChassisAccelerations ChassisAccelerations::to_field_relative ( const Rotation2d & robotAngle ) const

inline

Converts this robot-relative set of accelerations into a field-relative ChassisAccelerations object.

Parameters

robotAngle

The CCW-positive angle of the robot relative to the field.

Returns

Field-relative ChassisAccelerations.

to_robot_relative()

ChassisAccelerations ChassisAccelerations::to_robot_relative ( const Rotation2d & robotAngle ) const

inline

Converts this field-relative set of accelerations into a robot-relative ChassisAccelerations object.

Parameters

robotAngle

The CCW-positive angle of the robot relative to the field.

Returns

Robot-relative ChassisAccelerations.

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

• chassis_accelerations.h