yams::mechanisms::config::MechanismPositionConfig Class Reference

#include <MechanismPositionConfig.hpp>

Public Types
enum class	Plane { XZ , YZ , XY }

Public Member Functions
	MechanismPositionConfig ()=default
MechanismPositionConfig &	WithRelativePosition (const wpi::math::Translation3d &robotToMechanism)
MechanismPositionConfig &	WithRelativePosition (const wpi::math::Transform3d &robotToMechanism)
MechanismPositionConfig &	WithMovementPlane (Plane plane)
MechanismPositionConfig &	WithParent (std::function< wpi::math::Pose3d()> parentPose)
std::optional< wpi::math::Translation3d >	GetRelativePosition () const
Plane	GetMovementPlane () const
wpi::math::Pose3d	GetMountPose () const
wpi::math::Pose3d	GetRotatedPose (wpi::units::radian_t angle) const
wpi::math::Pose3d	GetTranslatedPose (wpi::units::meter_t distance, wpi::units::radian_t angle) const
wpi::math::Rotation3d	RotationInPlane (wpi::units::radian_t angle) const

Detailed Description

Where a mechanism is on the robot, for each mechanism's GetPose3d(): where it is mounted, how it is turned there, the plane it moves in, and optionally the mechanism it is mounted on, such as an arm on an elevator's carriage.

MechanismPositionConfig position;
position.WithRelativePosition(wpi::math::Translation3d{0.2_m, wpi::units::meter_t{0}, 0.3_m})  // 20 cm forward, 30 cm up
    .WithMovementPlane(MechanismPositionConfig::Plane::XZ);

Member Enumeration Documentation

Plane

enum class yams::mechanisms::config::MechanismPositionConfig::Plane

strong

The planes that the mechanism could move in.

Enumerator
XZ	X-Z plane: forward and up. The default.
YZ	Y-Z plane: left and up.
XY	X-Y plane: forward and left, such as a turret.

Constructor & Destructor Documentation

MechanismPositionConfig()

yams::mechanisms::config::MechanismPositionConfig::MechanismPositionConfig ( )

default

Member Function Documentation

GetMountPose()

wpi::math::Pose3d yams::mechanisms::config::MechanismPositionConfig::GetMountPose ( ) const

inline

Where the mechanism is mounted: its parent's pose, or the robot's origin, moved and turned by its relative position.

GetMovementPlane()

Plane yams::mechanisms::config::MechanismPositionConfig::GetMovementPlane ( ) const

inline

Get the plane that the mechanism moves in.

GetRelativePosition()

std::optional< wpi::math::Translation3d > yams::mechanisms::config::MechanismPositionConfig::GetRelativePosition ( ) const

inline

Get the translation from the robot, or from the parent, to the mechanism, if set.

GetRotatedPose()

wpi::math::Pose3d yams::mechanisms::config::MechanismPositionConfig::GetRotatedPose ( wpi::units::radian_t  angle ) const

inline

The pose of a part that turns about the axis normal to the movement plane, such as an arm or a pivot, at an angle. At 0 it points along +X in the XZ and XY planes, and along +Y in the YZ plane, and a positive angle turns it toward +Z in the XZ and YZ planes, and toward +Y in the XY plane.

Parameters

angle

The angle it is turned to.

Returns

Its pose: where it is mounted, turned by the angle.

GetTranslatedPose()

wpi::math::Pose3d yams::mechanisms::config::MechanismPositionConfig::GetTranslatedPose ( wpi::units::meter_t  distance, wpi::units::radian_t  angle  ) const

inline

The pose of a part that slides along the movement plane, such as an elevator's carriage.

Parameters

distance	How far it has slid from where it is mounted.
angle	The direction it slides in, in the movement plane: 0 along +X (+Y in the YZ plane), 90 degrees along +Z (+Y in the XY plane).

Returns

Its pose: where it is mounted, moved by the distance, and not turned.

RotationInPlane()

wpi::math::Rotation3d yams::mechanisms::config::MechanismPositionConfig::RotationInPlane ( wpi::units::radian_t  angle ) const

inline

The rotation of a part turned by an angle about the axis normal to the movement plane.

Parameters

angle

The angle.

Returns

The rotation.

WithMovementPlane()

MechanismPositionConfig & yams::mechanisms::config::MechanismPositionConfig::WithMovementPlane ( Plane  plane )

inline

Set the plane that the mechanism moves in.

Parameters

plane

The plane. Default is the X-Z plane.

Returns

*this for chaining.

WithParent()

MechanismPositionConfig & yams::mechanisms::config::MechanismPositionConfig::WithParent ( std::function< wpi::math::Pose3d()>  parentPose )

inline

Mount the mechanism on another, such as an arm on an elevator's carriage, so it moves with it. The mechanism's relative position is then from the parent's pose, rather than from the robot.

Parameters

parentPose

The pose the mechanism is mounted on, such as the elevator's GetPose3d().

Returns

*this for chaining.

WithRelativePosition() [1/2]

MechanismPositionConfig & yams::mechanisms::config::MechanismPositionConfig::WithRelativePosition ( const wpi::math::Transform3d &  robotToMechanism )

inline

Set where the mechanism is mounted, relative to the robot, or to its parent, and how it is turned there. The mechanism's pose is worked out from here: an arm's or pivot's axis, an elevator's carriage at zero height, or a flywheel's axle.

Parameters

robotToMechanism

Transform from the robot, or from its parent, to the mechanism.

Returns

*this for chaining.

WithRelativePosition() [2/2]

MechanismPositionConfig & yams::mechanisms::config::MechanismPositionConfig::WithRelativePosition ( const wpi::math::Translation3d &  robotToMechanism )

inline

Set where the mechanism is mounted, relative to the robot, or to its parent.

Parameters

robotToMechanism

Translation from the robot, or from its parent, to the mechanism.

Returns

*this for chaining.

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

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/mechanisms/config/MechanismPositionConfig.hpp