WPILibC++
2020.3.2
Field2d.h
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <hal/SimDevice.h>
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#include <units/units.h>
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#include "frc/geometry/Pose2d.h"
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#include "frc/geometry/Rotation2d.h"
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namespace
frc
{
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class
Field2d
{
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public
:
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Field2d
();
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void
SetRobotPose
(
const
Pose2d
& pose);
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void
SetRobotPose
(units::meter_t x, units::meter_t y,
Rotation2d
rotation);
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Pose2d
GetRobotPose
();
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private
:
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Pose2d
m_pose;
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hal::SimDevice m_device;
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hal::SimDouble m_x;
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hal::SimDouble m_y;
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hal::SimDouble m_rot;
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};
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}
// namespace frc
frc::Field2d
2D representation of game field (for simulation).
Definition:
Field2d.h:34
frc::Rotation2d
A rotation in a 2d coordinate frame represented a point on the unit circle (cosine and sine).
Definition:
Rotation2d.h:22
frc::Field2d::GetRobotPose
Pose2d GetRobotPose()
Get the robot pose.
frc::Pose2d
Represents a 2d pose containing translational and rotational elements.
Definition:
Pose2d.h:23
frc::Field2d::SetRobotPose
void SetRobotPose(const Pose2d &pose)
Set the robot pose from a Pose object.
frc
A class that enforces constraints on the differential drive kinematics.
Definition:
SPIAccelerometerSim.h:16
wpilibc
src
main
native
include
frc
simulation
Field2d.h
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