frcsim::ShotCalculator3D Class Reference

3D shot solution generator using table interpolation plus optional ballistic refinement. More...

#include <shot_calculator.hpp>

Classes
struct	TablePoint
	Lookup-table row for distance-indexed shot tuning. More...
struct	Config
	Solver configuration for interpolation, refinement, and historical smoothing behavior. More...
struct	ShotParameters
	Output shot command/result packet. More...

Public Member Functions
	ShotCalculator3D ()=default
	ShotCalculator3D (const Config &config)
	Constructs calculator with explicit configuration.
const Config &	config () const
	Returns active sanitized configuration.
void	setConfig (const Config &config)
	Replaces configuration after sanitization.
void	clearHistory ()
	Clears learned recent-shot history used for contextual blending.
void	setLookupTable (std::vector< TablePoint > points)
	Replaces lookup table with validated and distance-sorted points.
const std::vector< TablePoint > &	lookupTable () const
	Returns current lookup table.
ShotParameters	calculateShot (const Vector3 &flywheel_origin_m, const Vector3 &robot_velocity_mps, const Vector3 &target_position_m, double now_s)
	Computes a shot solution for current robot/target kinematics.

Detailed Description

3D shot solution generator using table interpolation plus optional ballistic refinement.

Constructor & Destructor Documentation

ShotCalculator3D() [1/2]

frcsim::ShotCalculator3D::ShotCalculator3D ( )

default

ShotCalculator3D() [2/2]

frcsim::ShotCalculator3D::ShotCalculator3D ( const Config & config )

inlineexplicit

Constructs calculator with explicit configuration.

Parameters

config

Initial calculator configuration.

Member Function Documentation

calculateShot()

ShotParameters frcsim::ShotCalculator3D::calculateShot ( const Vector3 & flywheel_origin_m, const Vector3 & robot_velocity_mps, const Vector3 & target_position_m, double now_s )

inline

Computes a shot solution for current robot/target kinematics.

Parameters

flywheel_origin_m	Flywheel origin in world coordinates.
robot_velocity_mps	Robot chassis velocity in world frame.
target_position_m	Target center position in world coordinates.
now_s	Current timestamp in seconds.

Returns

ShotParameters with validity flag and computed yaw/pitch/speed/time.

clearHistory()

void frcsim::ShotCalculator3D::clearHistory ( )

inline

Clears learned recent-shot history used for contextual blending.

config()

const Config & frcsim::ShotCalculator3D::config ( ) const

inline

Returns active sanitized configuration.

Returns

Immutable config reference.

lookupTable()

const std::vector< TablePoint > & frcsim::ShotCalculator3D::lookupTable ( ) const

inline

Returns current lookup table.

Returns

Immutable vector reference of table points.

setConfig()

void frcsim::ShotCalculator3D::setConfig ( const Config & config )

inline

Replaces configuration after sanitization.

Parameters

config

New configuration.

setLookupTable()

void frcsim::ShotCalculator3D::setLookupTable ( std::vector< TablePoint > points )

inline

Replaces lookup table with validated and distance-sorted points.

Parameters

points

Candidate table points to ingest.

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

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