frcsim::DoubleDifferentialMechanism Class Reference

Kinematic mapping utility for a two-motor double differential turret mechanism. More...

#include <double_differential.hpp>

Classes
struct	Limits
	Optional soft limits applied to joint coordinates. More...
struct	Config
	Mapping coefficients and inversion thresholds. More...
struct	MotorState
	Input state for the two drive motors. More...
struct	JointState
	Output state for mechanism yaw/pitch joints. More...
struct	InverseResult
	Result from inverse kinematics solve. More...

Public Member Functions
	DoubleDifferentialMechanism ()=default
	DoubleDifferentialMechanism (const Config &config)
const Config &	config () const
	Returns current mapping configuration.
void	setConfig (const Config &config)
	Replaces mapping configuration.
JointState	forward (const MotorState &motor_state) const
	Computes joint state from motor state via forward mapping.
InverseResult	inverse (const JointState &desired_joint_state) const
	Solves inverse mapping from desired joint state to motor state.
JointState	clampedToLimits (const JointState &state) const
	Returns a copy of state clamped to configured joint limits.

Detailed Description

Kinematic mapping utility for a two-motor double differential turret mechanism.

The configured 2x2 matrix maps motor shaft states to yaw/pitch joint states.

Constructor & Destructor Documentation

DoubleDifferentialMechanism() [1/2]

frcsim::DoubleDifferentialMechanism::DoubleDifferentialMechanism ( )

default

DoubleDifferentialMechanism() [2/2]

frcsim::DoubleDifferentialMechanism::DoubleDifferentialMechanism ( const Config & config )

inlineexplicit

Member Function Documentation

clampedToLimits()

JointState frcsim::DoubleDifferentialMechanism::clampedToLimits ( const JointState & state ) const

inline

Returns a copy of state clamped to configured joint limits.

Parameters

state

Input joint state.

Returns

Clamped joint state.

config()

const Config & frcsim::DoubleDifferentialMechanism::config ( ) const

inline

Returns current mapping configuration.

Returns

Immutable Config reference.

forward()

JointState frcsim::DoubleDifferentialMechanism::forward ( const MotorState & motor_state ) const

inline

Computes joint state from motor state via forward mapping.

Parameters

motor_state

Motor positions/velocities in mechanism motor space.

Returns

Joint state with configured limits applied.

inverse()

InverseResult frcsim::DoubleDifferentialMechanism::inverse ( const JointState & desired_joint_state ) const

inline

Solves inverse mapping from desired joint state to motor state.

Parameters

desired_joint_state

Requested joint angles/rates.

Returns

InverseResult with valid=false when configuration is singular.

setConfig()

void frcsim::DoubleDifferentialMechanism::setConfig ( const Config & config )

inline

Replaces mapping configuration.

Parameters

config

New mapping configuration.

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

• src/main/driver/include/frcsim/mechanisms/double_differential.hpp