pathplanner::FlippingUtil Class Reference

Public Types
enum	FieldSymmetry { kRotational , kMirrored }

Static Public Member Functions
static frc::Translation2d	flipFieldPosition (const frc::Translation2d &pos)
static frc::Rotation2d	flipFieldRotation (const frc::Rotation2d &rotation)
static frc::Pose2d	flipFieldPose (const frc::Pose2d &pose)
static frc::ChassisSpeeds	flipFieldSpeeds (const frc::ChassisSpeeds &fieldSpeeds)
template<class UnitType , class = std::enable_if_t< units::traits::is_unit_t<UnitType>::value>>
static std::vector< UnitType >	flipFeedforwards (const std::vector< UnitType > &feedforwards)
template<class UnitType , class = std::enable_if_t< units::traits::is_unit_t<UnitType>::value>>
static std::vector< UnitType >	flipFeedforwardXs (const std::vector< UnitType > &feedforwardXs)
template<class UnitType , class = std::enable_if_t< units::traits::is_unit_t<UnitType>::value>>
static std::vector< UnitType >	flipFeedforwardYs (const std::vector< UnitType > &feedforwardYs)

Static Public Attributes
static FieldSymmetry	symmetryType
static units::meter_t	fieldSizeX = 57.573_ft
static units::meter_t	fieldSizeY = 26.417_ft

Member Function Documentation

flipFeedforwards()

template<class UnitType , class = std::enable_if_t< units::traits::is_unit_t<UnitType>::value>>

static std::vector< UnitType > pathplanner::FlippingUtil::flipFeedforwards ( const std::vector< UnitType > &  feedforwards )

inlinestatic

Flip an array of drive feedforwards for the other side of the field. Only does anything if mirrored symmetry is used

Parameters

feedforwards

Array of drive feedforwards

Returns

The flipped feedforwards

flipFeedforwardXs()

template<class UnitType , class = std::enable_if_t< units::traits::is_unit_t<UnitType>::value>>

static std::vector< UnitType > pathplanner::FlippingUtil::flipFeedforwardXs ( const std::vector< UnitType > &  feedforwardXs )

inlinestatic

Flip an array of drive feedforward X components for the other side of the field. Only does anything if mirrored symmetry is used

Parameters

feedforwardXs

Array of drive feedforward X components

Returns

The flipped feedforward X components

flipFeedforwardYs()

template<class UnitType , class = std::enable_if_t< units::traits::is_unit_t<UnitType>::value>>

static std::vector< UnitType > pathplanner::FlippingUtil::flipFeedforwardYs ( const std::vector< UnitType > &  feedforwardYs )

inlinestatic

Flip an array of drive feedforward Y components for the other side of the field. Only does anything if mirrored symmetry is used

Parameters

feedforwardYs

Array of drive feedforward Y components

Returns

The flipped feedforward Y components

flipFieldPose()

static frc::Pose2d pathplanner::FlippingUtil::flipFieldPose ( const frc::Pose2d &  pose )

inlinestatic

Flip a field pose to the other side of the field, maintaining a blue alliance origin

Parameters

pose	The pose to flip

Returns

The flipped pose

flipFieldPosition()

static frc::Translation2d pathplanner::FlippingUtil::flipFieldPosition ( const frc::Translation2d &  pos )

inlinestatic

Flip a field position to the other side of the field, maintaining a blue alliance origin

Parameters

pos	The position to flip

Returns

The flipped position

flipFieldRotation()

static frc::Rotation2d pathplanner::FlippingUtil::flipFieldRotation ( const frc::Rotation2d &  rotation )

inlinestatic

Flip a field rotation to the other side of the field, maintaining a blue alliance origin

Parameters

rotation

The rotation to flip

Returns

The flipped rotation

flipFieldSpeeds()

static frc::ChassisSpeeds pathplanner::FlippingUtil::flipFieldSpeeds ( const frc::ChassisSpeeds &  fieldSpeeds )

inlinestatic

Flip field relative chassis speeds for the other side of the field, maintaining a blue alliance origin

Parameters

fieldSpeeds

Field relative chassis speeds

Returns

Flipped speeds

Member Data Documentation

symmetryType

FlippingUtil::FieldSymmetry FlippingUtil::symmetryType

static

Initial value:

=
        FlippingUtil::FieldSymmetry::kRotational

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

• src/main/native/include/pathplanner/lib/util/FlippingUtil.h
• src/main/native/cpp/pathplanner/lib/util/FlippingUtil.cpp