frcsim::IntakeSimulation Class Reference

Lightweight intake interaction model that consumes nearby balls into robot inventory. More...

#include <intake_simulation.hpp>

Classes
struct	Config
	Runtime configuration for intake behavior. More...
struct	ContactEvent
	Contact event generated during update() proximity checks. More...

Public Member Functions
	IntakeSimulation ()=default
	IntakeSimulation (const Config &config)
	Constructs intake simulation with explicit config.
void	setConfig (const Config &config)
	Replaces intake configuration.
const Config &	config () const
	Returns current configuration.
void	setRunning (bool running)
	Enables/disables intake processing.
bool	isRunning () const
	Returns whether intake processing is active.
void	setCustomIntakeCondition (const std::function< bool(std::size_t, const BallGamepieceSim &)> &predicate)
	Sets optional custom acceptance predicate for candidate balls.
std::size_t	gamePiecesInIntakeCount () const
	Returns current intake inventory count.
bool	obtainGamePieceFromIntake ()
	Removes one stored piece from intake inventory.
const std::deque< ContactEvent > &	recentEvents () const
	Returns contact events generated during the most recent update call.
void	update (BallGamepieceSim &sim)
	Performs proximity scanning and intake processing for one simulation step.

Detailed Description

Lightweight intake interaction model that consumes nearby balls into robot inventory.

Constructor & Destructor Documentation

IntakeSimulation() [1/2]

frcsim::IntakeSimulation::IntakeSimulation ( )

default

IntakeSimulation() [2/2]

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

inlineexplicit

Constructs intake simulation with explicit config.

Parameters

config

Intake configuration to store.

Member Function Documentation

config()

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

inline

Returns current configuration.

Returns

Immutable config reference.

gamePiecesInIntakeCount()

std::size_t frcsim::IntakeSimulation::gamePiecesInIntakeCount ( ) const

inline

Returns current intake inventory count.

Returns

Number of stored pieces.

isRunning()

bool frcsim::IntakeSimulation::isRunning ( ) const

inline

Returns whether intake processing is active.

Returns

True if running.

obtainGamePieceFromIntake()

bool frcsim::IntakeSimulation::obtainGamePieceFromIntake ( )

inline

Removes one stored piece from intake inventory.

Returns

True when a piece was available and consumed.

recentEvents()

const std::deque< ContactEvent > & frcsim::IntakeSimulation::recentEvents ( ) const

inline

Returns contact events generated during the most recent update call.

Returns

Event deque.

setConfig()

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

inline

Replaces intake configuration.

Parameters

config

New configuration.

setCustomIntakeCondition()

void frcsim::IntakeSimulation::setCustomIntakeCondition ( const std::function< bool(std::size_t, const BallGamepieceSim &)> & predicate )

inline

Sets optional custom acceptance predicate for candidate balls.

Parameters

predicate

Callable receiving gamepiece index and simulator state.

setRunning()

void frcsim::IntakeSimulation::setRunning ( bool running )

inline

Enables/disables intake processing.

Parameters

running

True to enable update processing.

update()

void frcsim::IntakeSimulation::update ( BallGamepieceSim & sim )

inline

Performs proximity scanning and intake processing for one simulation step.

Parameters

sim	Mutable gamepiece simulator state.

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

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