frcsim::Ball Class Reference

Thin, backwards-friendly ball wrapper around the generic Gamepiece. More...

#include <ball_wrapper.hpp>

Inheritance diagram for frcsim::Ball:

Public Member Functions
	Ball ()=default
	Ball (const Gamepiece::Config &cfg, const Gamepiece::Properties &props)
	Gamepiece ()=default
	Gamepiece (const BallPhysicsSim3D::Config &cfg, const BallPhysicsSim3D::BallProperties &props)
Public Member Functions inherited from frcsim::Gamepiece
	Gamepiece ()=default
	Gamepiece (const BallPhysicsSim3D::Config &cfg, const BallPhysicsSim3D::BallProperties &props)
void	setGamepieceState (State s)
State	getGamepieceState () const
bool	pick (const PickupRequest &req)
	Attempt to pick up the gamepiece into a carrier. Delegates to BallPhysicsSim3D::requestPickup and flips state to kHeld on success.
void	place (const Vector3 &pos)
	Place the gamepiece at world position and mark as grounded.
void	outtake (const Vector3 &muzzle_position_m, const Vector3 &muzzle_velocity_mps, const Vector3 &muzzle_spin_radps=Vector3::zero())
	Outtake (launch) the gamepiece into free flight and mark as airborne.
void	step (double dt_s)
	Step wrapper that applies low-cost behavior for grounded/held.
void	setTypeName (const std::string &name)
const std::string &	typeName () const
bool	isBall () const
	BallPhysicsSim3D ()=default
	BallPhysicsSim3D (const Config &config)
	BallPhysicsSim3D (const Config &config, const BallProperties &ball_properties)
Public Member Functions inherited from frcsim::BallPhysicsSim3D
	BallPhysicsSim3D ()=default
	BallPhysicsSim3D (const Config &config)
	BallPhysicsSim3D (const Config &config, const BallProperties &ball_properties)
const Config &	config () const
	Returns active, sanitized configuration.
void	setConfig (const Config &config)
	Replaces configuration after value sanitization and clamping.
const BallProperties &	ballProperties () const
	Returns active, sanitized ball properties.
void	setBallProperties (const BallProperties &props)
	Replaces ball properties after sanitization.
const BallState &	state () const
	Returns current ball state.
void	setState (const BallState &state)
	Replaces state and sanitizes non-finite values.
void	setCarrierPose (const Vector3 &carrier_position_m, const Vector3 &carrier_velocity_mps=Vector3::zero())
	Updates carrier pose used when the ball is in held mode.
bool	requestPickup (const PickupRequest &pickup_request)
	Attempts to pick up and hold the ball.
void	release ()
	Releases the ball from held mode without changing velocity.
void	shoot (const Vector3 &muzzle_position_m, const Vector3 &muzzle_velocity_mps, const Vector3 &muzzle_spin_radps=Vector3::zero())
	Places the ball at a muzzle pose and sets launch velocity/spin.
void	step (double dt_s)
	Advances simulation by dt seconds.

Static Public Member Functions
static Ball	defaultEvergreen ()

Additional Inherited Members
Public Types inherited from frcsim::Gamepiece
enum class	State { kAirborne , kGrounded , kHeld }
using	Config = BallPhysicsSim3D::Config
using	Properties = BallPhysicsSim3D::BallProperties

Detailed Description

Thin, backwards-friendly ball wrapper around the generic Gamepiece.

This type exists to make call sites that previously relied on BallPhysicsSim3D or Ball compile with minimal changes while encouraging new code to use the generic Gamepiece abstraction.

Constructor & Destructor Documentation

Ball() [1/2]

frcsim::Ball::Ball ( )

default

Ball() [2/2]

frcsim::Ball::Ball ( const Gamepiece::Config & cfg, const Gamepiece::Properties & props )

inline

Member Function Documentation

defaultEvergreen()

Ball frcsim::Ball::defaultEvergreen ( )

inlinestatic

Convenience factory returning an evergreen default ball.

Gamepiece() [1/2]

frcsim::Gamepiece::Gamepiece ( )

default

Gamepiece() [2/2]

frcsim::Gamepiece::Gamepiece ( const BallPhysicsSim3D::Config & cfg, const BallPhysicsSim3D::BallProperties & props )

inline

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

• src/main/driver/include/frcsim/gamepiece/ball_wrapper.hpp