frcsim::SwerveModel Class Reference

Kinematic and dynamic block for simulating a Swerve drivetrain. More...

#include <swerve_model.hpp>

Public Member Functions
	SwerveModel ()=default
virtual	~SwerveModel ()=default
virtual void	Update (RigidBody *chassis, const std::vector< SwerveModuleState > &states, double dt)=0
	Modifies chassis velocities and apply friction based on swerve module states.

Detailed Description

Kinematic and dynamic block for simulating a Swerve drivetrain.

Constructor & Destructor Documentation

SwerveModel()

frcsim::SwerveModel::SwerveModel ( )

default

~SwerveModel()

virtual frcsim::SwerveModel::~SwerveModel ( )

virtualdefault

Member Function Documentation

Update()

virtual void frcsim::SwerveModel::Update ( RigidBody * chassis, const std::vector< SwerveModuleState > & states, double dt )

pure virtual

Modifies chassis velocities and apply friction based on swerve module states.

Parameters

chassis	The rigid body representing the robot's base.
states	The array of 4 swerve module states (FL, FR, BL, BR).
dt	Simulation timestep in seconds.

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

• src/main/driver/include/frcsim/drivetrains/swerve/swerve_model.hpp