hololib Namespace Reference

Namespaces
namespace	motion_handler

Classes
class	ApriltagLocalization
	Estimates the robot's field pose from AprilTag detections. More...
class	Chassis
struct	ChassisConfig
	Core constants to configure the chassis dimensions and hardware. More...
struct	distancePose
	The resultant position calculated by distance sensors. More...
class	DistanceReset
	Handles resetting the robot's odometry using distance sensors. More...
struct	DistanceSensor
	Configuration for a single distance sensor used in odometry reset. More...
class	DriverReplay
class	EncoderEKFOdometry
class	GainScheduler
	A scheduler that interpolates and selects PID gains based on the current error. More...
class	MotionCancelHelper
	This class exists to simplify the cancellation logic in a motion function. More...
struct	MoveParams
struct	MoveSettings
struct	Obstacle
	Represents a physical obstacle on the field. More...
class	ObstacleManager
	Manages a collection of obstacles and provides avoidance computations. More...
struct	PathPoint
struct	Pose
class	PoseEKF
	Extended Kalman Filter implementation for maintaining the robot's pose. More...
struct	ScheduledGain
	A mapping of error threshold to specific PID gains. More...
class	Timer
struct	TrackingWheelConfig
	Configuration parameters for a tracking wheel. More...
struct	VelocityComponents

Enumerations
enum class	TrackingWheelOrientation { HORIZONTAL , VERTICAL }
	Defines the orientation of an unpowered tracking wheel. More...
enum class	HeadingMode { FollowPath , HoldAngle , CustomAngles }
enum class	SwingSide { Left , Right }

Functions
void	moveToPoint (float tx, float ty, MoveParams params={}, MoveSettings settings={})
	Moves the robot to a specific point using PID control.
void	followPath (const std::vector< PathPoint > &path, float lookaheadDistance, HeadingMode headingMode, float holdAngleDeg, bool reversed, MoveParams params={}, MoveSettings settings={})
void	turnToHeading (float targetDeg, MoveParams params={}, MoveSettings settings={})
void	turnToPoint (float tx, float ty, MoveParams params={}, MoveSettings settings={})
void	moveRelative (float forward, float sideways, bool holdHeading=true, MoveParams params={}, MoveSettings settings={})
void	moveDistance (float distance, bool holdHeading=true, MoveParams params={}, MoveSettings settings={})
void	strafeDistance (float distance, bool holdHeading=true, MoveParams params={}, MoveSettings settings={})
void	moveToPose (float tx, float ty, float targetThetaDeg, MoveParams params={}, MoveSettings settings={})
void	swingTurn (float targetThetaDeg, SwingSide lockedSide, MoveParams params={}, MoveSettings settings={})
float	getAngleError (float target, float current)
	Helper utility to calculate the shortest path between two angles.
float	vexToMathRadians (float vexDegrees)

Variables
constexpr float	DEG2RAD = M_PI / 180.0f
constexpr float	RAD2DEG = 180.0f / M_PI

Enumeration Type Documentation

TrackingWheelOrientation

enum class hololib::TrackingWheelOrientation

strong

Defines the orientation of an unpowered tracking wheel.

Enumerator
HORIZONTAL
VERTICAL

Definition at line 19 of file odometry.hpp.

HeadingMode

enum class hololib::HeadingMode

strong

Enumerator
FollowPath
HoldAngle
CustomAngles

Definition at line 42 of file motions.hpp.

SwingSide

enum class hololib::SwingSide

strong

Enumerator
Left
Right

Definition at line 48 of file motions.hpp.

Function Documentation

moveToPoint()

void hololib::moveToPoint	(	float	tx,
		float	ty,
		MoveParams	params = {},
		MoveSettings	settings = {}
	)

Moves the robot to a specific point using PID control.

Parameters

tx	The x-coordinate of the target point.
ty	The y-coordinate of the target point.
params	The movement parameters.
settings	Shared motion dependencies.

Returns

void

followPath()

void hololib::followPath	(	const std::vector< PathPoint > &	path,
		float	lookaheadDistance,
		HeadingMode	headingMode,
		float	holdAngleDeg,
		bool	reversed,
		MoveParams	params = {},
		MoveSettings	settings = {}
	)

turnToHeading()

void hololib::turnToHeading	(	float	targetDeg,
		MoveParams	params = {},
		MoveSettings	settings = {}
	)

turnToPoint()

void hololib::turnToPoint	(	float	tx,
		float	ty,
		MoveParams	params = {},
		MoveSettings	settings = {}
	)

moveRelative()

void hololib::moveRelative	(	float	forward,
		float	sideways,
		bool	holdHeading = true,
		MoveParams	params = {},
		MoveSettings	settings = {}
	)

moveDistance()

void hololib::moveDistance	(	float	distance,
		bool	holdHeading = true,
		MoveParams	params = {},
		MoveSettings	settings = {}
	)

strafeDistance()

void hololib::strafeDistance	(	float	distance,
		bool	holdHeading = true,
		MoveParams	params = {},
		MoveSettings	settings = {}
	)

moveToPose()

void hololib::moveToPose	(	float	tx,
		float	ty,
		float	targetThetaDeg,
		MoveParams	params = {},
		MoveSettings	settings = {}
	)

swingTurn()

void hololib::swingTurn	(	float	targetThetaDeg,
		SwingSide	lockedSide,
		MoveParams	params = {},
		MoveSettings	settings = {}
	)

getAngleError()

float hololib::getAngleError	(	float	target,
		float	current
	)

Helper utility to calculate the shortest path between two angles.

Parameters

target	The desired angle in degrees.
current	The current angle in degrees.

Returns

float The minimal error difference [-180, 180].

vexToMathRadians()

float hololib::vexToMathRadians

(

float

vexDegrees

)

Variable Documentation

DEG2RAD

constexpr float hololib::DEG2RAD = M_PI / 180.0f

constexpr

Definition at line 53 of file motions.hpp.

RAD2DEG

constexpr float hololib::RAD2DEG = 180.0f / M_PI

constexpr

Definition at line 54 of file motions.hpp.