libstp::kinematics::mecanum::MecanumKinematics Class Reference

#include <mecanum.hpp>

Inheritance diagram for libstp::kinematics::mecanum::MecanumKinematics:

Collaboration diagram for libstp::kinematics::mecanum::MecanumKinematics:

Public Member Functions
	MecanumKinematics (hal::motor::IMotor *front_left_motor, hal::motor::IMotor *front_right_motor, hal::motor::IMotor *back_left_motor, hal::motor::IMotor *back_right_motor, double wheelbase, double trackWidth, double wheelRadius, foundation::VelocityCommandGain velocityCommandGain={})
	~MecanumKinematics () override=default
std::size_t	wheelCount () const override
MotorCommands	applyCommand (const foundation::ChassisVelocity &cmd, double dt) override
foundation::ChassisVelocity	estimateState () const override
void	hardStop () override
bool	supportsLateralMotion () const override
void	resetEncoders () override
double	getWheelRadius () const override
	Get the wheel radius used by this kinematics model.
void	setMaxWheelSpeed (double max_wheel_speed)
double	getMaxWheelSpeed () const
double	maxYawRateForArcRadius (double radius_m, bool) const override
std::vector< hal::motor::IMotor * >	getMotors () override
StmOdometryConfig	getStmOdometryConfig () override
void	setVelocityCommandGains (double gx, double gy, double gw) override
std::array< double, 3 >	getVelocityCommandGains () const override
void	applyPowerCommand (const foundation::ChassisVelocity &direction, int power_percent) override
Public Member Functions inherited from libstp::kinematics::IKinematics
virtual	~IKinematics ()=default

Detailed Description

Four-wheel mecanum implementation of IKinematics.

The model uses the shared LibSTP body-frame convention: +x forward, +y right, +wz counter-clockwise.

Definition at line 17 of file mecanum.hpp.

Constructor & Destructor Documentation

MecanumKinematics()

libstp::kinematics::mecanum::MecanumKinematics::MecanumKinematics	(	hal::motor::IMotor *	front_left_motor,
		hal::motor::IMotor *	front_right_motor,
		hal::motor::IMotor *	back_left_motor,
		hal::motor::IMotor *	back_right_motor,
		double	wheelbase,
		double	trackWidth,
		double	wheelRadius,
		foundation::VelocityCommandGain	velocityCommandGain = {} )

Parameters

front_left_motor	Non-owning pointer to the front-left motor.
front_right_motor	Non-owning pointer to the front-right motor.
back_left_motor	Non-owning pointer to the back-left motor.
back_right_motor	Non-owning pointer to the back-right motor.
wheelbase	Front-to-back axle spacing in meters.
trackWidth	Left-to-right wheel spacing in meters.
wheelRadius	Radius of each drive wheel in meters.
velocityCommandGain	Per-axis velocity-command gain (identity by default); folded into the STM32 forward kinematics to compensate drivetrain efficiency. Calibrated by the autotune velocity phase.

~MecanumKinematics()

libstp::kinematics::mecanum::MecanumKinematics::~MecanumKinematics ( )

overridedefault

Member Function Documentation

applyCommand()

MotorCommands libstp::kinematics::mecanum::MecanumKinematics::applyCommand ( const foundation::ChassisVelocity & cmd, double dt )

overridevirtual

Convert chassis velocity into front-left, front-right, back-left, back-right wheel speeds.

Implements libstp::kinematics::IKinematics.

applyPowerCommand()

void libstp::kinematics::mecanum::MecanumKinematics::applyPowerCommand ( const foundation::ChassisVelocity & direction, int power_percent )

overridevirtual

Command motors at raw open-loop power using mecanum inverse kinematics for direction.

Implements libstp::kinematics::IKinematics.

estimateState()

foundation::ChassisVelocity libstp::kinematics::mecanum::MecanumKinematics::estimateState ( ) const

nodiscardoverridevirtual

Recover chassis velocity from the four measured wheel speeds.

Implements libstp::kinematics::IKinematics.

getMaxWheelSpeed()

double libstp::kinematics::mecanum::MecanumKinematics::getMaxWheelSpeed ( ) const

inlinenodiscard

Definition at line 81 of file mecanum.hpp.

getMotors()

std::vector< hal::motor::IMotor * > libstp::kinematics::mecanum::MecanumKinematics::getMotors ( )

nodiscardoverridevirtual

Return the underlying motors in front-left, front-right, back-left, back-right order.

Implements libstp::kinematics::IKinematics.

getStmOdometryConfig()

StmOdometryConfig libstp::kinematics::mecanum::MecanumKinematics::getStmOdometryConfig ( )

nodiscardoverridevirtual

Implements libstp::kinematics::IKinematics.

getVelocityCommandGains()

std::array< double, 3 > libstp::kinematics::mecanum::MecanumKinematics::getVelocityCommandGains ( ) const

nodiscardoverridevirtual

Reimplemented from libstp::kinematics::IKinematics.

getWheelRadius()

double libstp::kinematics::mecanum::MecanumKinematics::getWheelRadius ( ) const

inlinenodiscardoverridevirtual

Get the wheel radius used by this kinematics model.

Returns

Wheel radius in meters

Implements libstp::kinematics::IKinematics.

Definition at line 77 of file mecanum.hpp.

hardStop()

void libstp::kinematics::mecanum::MecanumKinematics::hardStop ( )

overridevirtual

Brake all four drive motors immediately.

Implements libstp::kinematics::IKinematics.

maxYawRateForArcRadius()

double libstp::kinematics::mecanum::MecanumKinematics::maxYawRateForArcRadius ( double radius_m, bool  ) const

inlinenodiscardoverridevirtual

Mecanum wheel speed is (|vx| + |vy| + |wz| * (l + w)/2) / r; on an arc (v = omega * radius, one translational axis) the fastest wheel runs at omega * (radius + (l + w)/2) / r — cap omega so it stays inside the wheel-speed limit. Same lever for drive and strafe arcs.

Reimplemented from libstp::kinematics::IKinematics.

Definition at line 89 of file mecanum.hpp.

resetEncoders()

void libstp::kinematics::mecanum::MecanumKinematics::resetEncoders ( )

overridevirtual

Clear encoder history in all four MotorAdapter instances.

Implements libstp::kinematics::IKinematics.

setMaxWheelSpeed()

void libstp::kinematics::mecanum::MecanumKinematics::setMaxWheelSpeed ( double max_wheel_speed )

inline

Set max wheel speed (rad/s) for desaturation. 0 = disabled.

Definition at line 80 of file mecanum.hpp.

setVelocityCommandGains()

void libstp::kinematics::mecanum::MecanumKinematics::setVelocityCommandGains ( double gx, double gy, double gw )

overridevirtual

Set/get the per-axis velocity-command gain [vx, vy, wz].

Reimplemented from libstp::kinematics::IKinematics.

supportsLateralMotion()

bool libstp::kinematics::mecanum::MecanumKinematics::supportsLateralMotion ( ) const

nodiscardoverridevirtual

Mecanum drivetrains can command lateral motion directly.

Implements libstp::kinematics::IKinematics.

wheelCount()

std::size_t libstp::kinematics::mecanum::MecanumKinematics::wheelCount ( ) const

nodiscardoverridevirtual

Always returns 4.

Implements libstp::kinematics::IKinematics.

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

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-kinematics/models/mecanum/include/kinematics/mecanum/mecanum.hpp