wolflib Namespace Reference

Namespaces
namespace	Omniwheel

Classes
class	Chassis
struct	ChassisConfig
struct	ControllerSettings
struct	DistanceSensorConfig
class	DriveCurve
struct	Drivetrain
class	ExitCondition
class	ExpoDriveCurve
struct	FieldConfig
class	FieldView
struct	FusionConfig
struct	MappingInfo
struct	MclConfig
struct	MclEstimate
struct	MclTuning
struct	MotionOptions
struct	MoveToPointOptions
struct	MoveToPoseOptions
class	OccupancyMap
struct	OdometryDelta
struct	OdometryStep
struct	OdomSensors
struct	Particle
class	ParticleFilter
class	PID
struct	Pose
struct	RangeObservation
struct	Rect
struct	RobotGeometry
class	Timer
class	TrackingWheel
struct	TurnOptions
struct	WheelDelta

Enumerations
enum class	AngularDirection { Clockwise , Counterclockwise , Automatic }
enum class	DriveSide { Left , Right }
enum class	MappingState {   Idle , Mapping , Saving , Ready ,   Error }
enum class	DistanceConfidencePolicy { Ignore , RequireMinimum , ScaleWeight }
enum class	MapStatus {   Ok , NotInitialized , InvalidDimensions , OutOfBounds ,   IoError , InvalidFormat , UnsupportedVersion , ChecksumMismatch }

Functions
double	degToRad (double degrees)
double	radToDeg (double radians)
double	wrapDegrees (double degrees)
double	angleError (double target, double current)
double	clamp (double value, double minimum, double maximum)
double	slew (double target, double previous, double maximumChange)
double	average (const std::vector< double > &values)
double	ema (double current, double previous, double alpha)
Pose	integrateLocalDelta (const Pose &pose, double localX, double localY, double deltaThetaDegrees)
	Integrate a robot-relative delta. localX is right, localY is forward.
const char *	mapStatusString (MapStatus status)
OdometryStep	integrateOdometry (Pose previous, const OdometryDelta &sample)

Variables
constexpr double	kPi = std::numbers::pi_v<double>

Enumeration Type Documentation

AngularDirection

enum class wolflib::AngularDirection

strong

Enumerator
Clockwise
Counterclockwise
Automatic

DistanceConfidencePolicy

enum class wolflib::DistanceConfidencePolicy

strong

Enumerator
Ignore
RequireMinimum
ScaleWeight

DriveSide

enum class wolflib::DriveSide

strong

Enumerator
Left
Right

MappingState

enum class wolflib::MappingState

strong

Enumerator
Idle
Mapping
Saving
Ready
Error

MapStatus

enum class wolflib::MapStatus

strong

Enumerator
Ok
NotInitialized
InvalidDimensions
OutOfBounds
IoError
InvalidFormat
UnsupportedVersion
ChecksumMismatch

Function Documentation

angleError()

double wolflib::angleError	(	double	target,
		double	current
	)

average()

double wolflib::average

(

const std::vector< double > &

values

)

clamp()

double wolflib::clamp	(	double	value,
		double	minimum,
		double	maximum
	)

degToRad()

double wolflib::degToRad

(

double

degrees

)

ema()

double wolflib::ema	(	double	current,
		double	previous,
		double	alpha
	)

integrateLocalDelta()

Pose wolflib::integrateLocalDelta	(	const Pose &	pose,
		double	localX,
		double	localY,
		double	deltaThetaDegrees
	)

Integrate a robot-relative delta. localX is right, localY is forward.

integrateOdometry()

OdometryStep wolflib::integrateOdometry	(	Pose	previous,
		const OdometryDelta &	sample
	)

Integrates one sensor sample. IMU delta is clockwise-positive degrees. Wheel offsets follow TrackingWheel conventions.

mapStatusString()

const char * wolflib::mapStatusString

(

MapStatus

status

)

radToDeg()

double wolflib::radToDeg

(

double

radians

)

slew()

double wolflib::slew	(	double	target,
		double	previous,
		double	maximumChange
	)

wrapDegrees()

double wolflib::wrapDegrees

(

double

degrees

)

Variable Documentation

kPi

constexpr double wolflib::kPi = std::numbers::pi_v<double>

constexpr