WPILib FRC namespace. More...

Namespaces
	filesystem
	WPILib FileSystem namespace.

Classes
class	Accelerometer
	Interface for 3-axis accelerometers. More...

class	AddressableLED
	A class for driving addressable LEDs, such as WS2812s and NeoPixels. More...

class	ADXL345_I2C
	ADXL345 Accelerometer on I2C. More...

class	ADXL345_SPI
	ADXL345 Accelerometer on SPI. More...

class	ADXL362
	ADXL362 SPI Accelerometer. More...

class	ADXRS450_Gyro
	Use a rate gyro to return the robots heading relative to a starting position. More...

class	AnalogAccelerometer
	Handle operation of an analog accelerometer. More...

class	AnalogEncoder
	Class for supporting continuous analog encoders, such as the US Digital MA3. More...

class	AnalogGyro
	Use a rate gyro to return the robots heading relative to a starting position. More...

class	AnalogInput
	Analog input class. More...

class	AnalogOutput
	MXP analog output class. More...

class	AnalogPotentiometer
	Class for reading analog potentiometers. More...

class	AnalogTrigger

class	AnalogTriggerOutput
	Class to represent a specific output from an analog trigger. More...

class	ArmFeedforward
	A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting against the force of gravity on a beam suspended at an angle). More...

class	BuiltInAccelerometer
	Built-in accelerometer. More...

class	Button
	This class provides an easy way to link commands to OI inputs. More...

class	ButtonScheduler

class	CameraServer
	Singleton class for creating and keeping camera servers. More...

class	CameraServerShared

class	CAN
	High level class for interfacing with CAN devices conforming to the standard CAN spec. More...

class	CancelButtonScheduler

struct	CANData

struct	CANStatus

class	CentripetalAccelerationConstraint
	A constraint on the maximum absolute centripetal acceleration allowed when traversing a trajectory. More...

struct	ChassisSpeeds
	Represents the speed of a robot chassis. More...

class	Color
	Represents colors that can be used with Addressable LEDs. More...

class	Color8Bit
	Represents colors that can be used with Addressable LEDs. More...

class	Command
	The Command class is at the very core of the entire command framework. More...

class	CommandGroup
	A CommandGroup is a list of commands which are executed in sequence. More...

class	CommandGroupEntry

class	ComplexWidget
	A Shuffleboard widget that handles a Sendable object such as a speed controller or sensor. More...

class	Compressor
	Class for operating a compressor connected to a PCM (Pneumatic Control Module). More...

class	ConditionalCommand
	A ConditionalCommand is a Command that starts one of two commands. More...

class	ControlAffinePlantInversionFeedforward
	Constructs a control-affine plant inversion model-based feedforward from given model dynamics. More...

class	Controller
	Interface for Controllers. More...

class	Counter
	Class for counting the number of ticks on a digital input channel. More...

class	CounterBase
	Interface for counting the number of ticks on a digital input channel. More...

class	CubicHermiteSpline
	Represents a hermite spline of degree 3. More...

class	DCMotor
	Holds the constants for a DC motor. More...

class	DifferentialDrive
	A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive base, "tank drive", or West Coast Drive. More...

class	DifferentialDriveKinematics
	Helper class that converts a chassis velocity (dx and dtheta components) to left and right wheel velocities for a differential drive. More...

class	DifferentialDriveKinematicsConstraint
	A class that enforces constraints on the differential drive kinematics. More...

class	DifferentialDriveOdometry
	Class for differential drive odometry. More...

class	DifferentialDrivePoseEstimator
	This class wraps an Unscented Kalman Filter to fuse latency-compensated vision measurements with differential drive encoder measurements. More...

class	DifferentialDriveVoltageConstraint
	A class that enforces constraints on differential drive voltage expenditure based on the motor dynamics and the drive kinematics. More...

struct	DifferentialDriveWheelSpeeds
	Represents the wheel speeds for a differential drive drivetrain. More...

class	DigitalGlitchFilter
	Class to enable glitch filtering on a set of digital inputs. More...

class	DigitalInput
	Class to read a digital input. More...

class	DigitalOutput
	Class to write to digital outputs. More...

class	DigitalSource
	DigitalSource Interface. More...

class	DMA

class	DMASample

class	DMC60
	Digilent DMC 60 Speed Controller. More...

class	DoubleSolenoid
	DoubleSolenoid class for running 2 channels of high voltage Digital Output (PCM). More...

class	DriverStation
	Provide access to the network communication data to / from the Driver Station. More...

class	DutyCycle
	Class to read a duty cycle PWM input. More...

class	DutyCycleEncoder
	Class for supporting duty cycle/PWM encoders, such as the US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder. More...

class	ElevatorFeedforward
	A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting against the force of gravity). More...

class	EllipticalRegionConstraint
	Enforces a particular constraint only within an elliptical region. More...

class	Encoder
	Class to read quad encoders. More...

class	Error
	Error object represents a library error. More...

class	ErrorBase
	Base class for most objects. More...

class	ExtendedKalmanFilter

class	Field2d
	2D representation of game field for dashboards. More...

class	FieldObject2d
	Game field object on a Field2d. More...

class	Filter
	Interface for filters. More...

class	GearTooth
	Alias for counter class. More...

class	GenericHID
	GenericHID Interface. More...

class	Gyro
	Interface for yaw rate gyros. More...

class	GyroBase
	GyroBase is the common base class for Gyro implementations such as AnalogGyro. More...

class	HeldButtonScheduler

class	HolonomicDriveController
	This holonomic drive controller can be used to follow trajectories using a holonomic drive train (i.e. More...

class	I2C
	I2C bus interface class. More...

class	InstantCommand
	This command will execute once, then finish immediately afterward. More...

class	InternalButton

class	InterruptableSensorBase

class	IterativeRobot
	IterativeRobot implements the IterativeRobotBase robot program framework. More...

class	IterativeRobotBase
	IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase class. More...

class	Jaguar
	Luminary Micro / Vex Robotics Jaguar Speed Controller with PWM control. More...

class	Joystick
	Handle input from standard Joysticks connected to the Driver Station. More...

class	JoystickButton

class	KalmanFilter

class	KalmanFilter< 1, 1, 1 >

class	KalmanFilter< 2, 1, 1 >

class	KalmanFilterLatencyCompensator

class	KilloughDrive
	A class for driving Killough drive platforms. More...

class	LayoutType
	Represents the type of a layout in Shuffleboard. More...

class	LinearDigitalFilter
	This class implements a linear, digital filter. More...

class	LinearFilter
	This class implements a linear, digital filter. More...

class	LinearPlantInversionFeedforward
	Constructs a plant inversion model-based feedforward from a LinearSystem. More...

class	LinearQuadraticRegulator

class	LinearQuadraticRegulator< 1, 1 >

class	LinearQuadraticRegulator< 2, 1 >

class	LinearSystem
	A plant defined using state-space notation. More...

class	LinearSystemId

class	LinearSystemLoop
	Combines a controller, feedforward, and observer for controlling a mechanism with full state feedback. More...

class	LiveWindow
	The LiveWindow class is the public interface for putting sensors and actuators on the LiveWindow. More...

class	MaxVelocityConstraint
	Represents a constraint that enforces a max velocity. More...

class	MecanumDrive
	A class for driving Mecanum drive platforms. More...

class	MecanumDriveKinematics
	Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel speeds. More...

class	MecanumDriveKinematicsConstraint
	A class that enforces constraints on the mecanum drive kinematics. More...

class	MecanumDriveOdometry
	Class for mecanum drive odometry. More...

class	MecanumDrivePoseEstimator
	This class wraps an Unscented Kalman Filter to fuse latency-compensated vision measurements with mecanum drive encoder velocity measurements. More...

struct	MecanumDriveWheelSpeeds
	Represents the wheel speeds for a mecanum drive drivetrain. More...

class	Mechanism2D

class	MedianFilter
	A class that implements a moving-window median filter. More...

class	MerweScaledSigmaPoints
	Generates sigma points and weights according to Van der Merwe's 2004 dissertation[1] for the UnscentedKalmanFilter class. More...

class	MotorSafety
	This base class runs a watchdog timer and calls the subclass's StopMotor() function if the timeout expires. More...

class	NetworkButton

class	NidecBrushless
	Nidec Brushless Motor. More...

class	Notifier

struct	NullDeleter

class	PIDBase
	Class implements a PID Control Loop. More...

class	PIDCommand

class	PIDController
	Class implements a PID Control Loop. More...

class	PIDInterface
	Interface for PID Control Loop. More...

class	PIDOutput
	PIDOutput interface is a generic output for the PID class. More...

class	PIDSource
	PIDSource interface is a generic sensor source for the PID class. More...

class	PIDSubsystem
	This class is designed to handle the case where there is a Subsystem which uses a single PIDController almost constantly (for instance, an elevator which attempts to stay at a constant height). More...

class	Pose2d
	Represents a 2d pose containing translational and rotational elements. More...

class	Potentiometer
	Interface for potentiometers. More...

class	POVButton

class	PowerDistributionPanel
	Class for getting voltage, current, temperature, power and energy from the CAN PDP. More...

class	Preferences
	The preferences class provides a relatively simple way to save important values to the roboRIO to access the next time the roboRIO is booted. More...

class	PressedButtonScheduler

class	PrintCommand

class	ProfiledPIDController
	Implements a PID control loop whose setpoint is constrained by a trapezoid profile. More...

class	PWM
	Class implements the PWM generation in the FPGA. More...

class	PWMSparkMax
	REV Robotics SPARK MAX Speed Controller. More...

class	PWMSpeedController
	Common base class for all PWM Speed Controllers. More...

class	PWMTalonFX
	Cross the Road Electronics (CTRE) Talon FX Speed Controller with PWM control. More...

class	PWMTalonSRX
	Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control. More...

class	PWMVenom
	Playing with Fusion Venom Smart Motor with PWM control. More...

class	PWMVictorSPX
	Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control. More...

class	QuinticHermiteSpline
	Represents a hermite spline of degree 5. More...

class	RamseteController
	Ramsete is a nonlinear time-varying feedback controller for unicycle models that drives the model to a desired pose along a two-dimensional trajectory. More...

class	RectangularRegionConstraint
	Enforces a particular constraint only within a rectangular region. More...

class	Relay
	Class for Spike style relay outputs. More...

class	ReleasedButtonScheduler

class	Resource
	The Resource class is a convenient way to track allocated resources. More...

class	RobotBase
	Implement a Robot Program framework. More...

class	RobotController

class	RobotDrive
	Utility class for handling Robot drive based on a definition of the motor configuration. More...

class	RobotDriveBase
	Common base class for drive platforms. More...

class	RobotState

class	Rotation2d
	A rotation in a 2d coordinate frame represented a point on the unit circle (cosine and sine). More...

class	Scheduler

class	ScopedTracer
	A class for keeping track of how much time it takes for different parts of code to execute. More...

class	SD540
	Mindsensors SD540 Speed Controller. More...

class	Sendable
	Interface for Sendable objects. More...

class	SendableBase

class	SendableBuilder

class	SendableBuilderImpl

class	SendableCameraWrapper
	A wrapper to make video sources sendable and usable from Shuffleboard. More...

class	SendableChooser
	The SendableChooser class is a useful tool for presenting a selection of options to the SmartDashboard. More...

class	SendableChooserBase
	This class is a non-template base class for SendableChooser. More...

class	SendableHelper
	A helper class for use with objects that add themselves to SendableRegistry. More...

class	SendableRegistry
	The SendableRegistry class is the public interface for registering sensors and actuators for use on dashboards and LiveWindow. More...

class	SensorUtil
	Stores most recent status information as well as containing utility functions for checking channels and error processing. More...

class	SerialPort
	Driver for the RS-232 serial port on the roboRIO. More...

class	Servo
	Standard hobby style servo. More...

class	Shuffleboard
	The Shuffleboard class provides a mechanism with which data can be added and laid out in the Shuffleboard dashboard application from a robot program. More...

class	ShuffleboardComponent
	A generic component in Shuffleboard. More...

class	ShuffleboardComponentBase
	A shim class to allow storing ShuffleboardComponents in arrays. More...

class	ShuffleboardContainer
	Common interface for objects that can contain shuffleboard components. More...

class	ShuffleboardLayout
	A layout in a Shuffleboard tab. More...

class	ShuffleboardRoot
	The root of the data placed in Shuffleboard. More...

class	ShuffleboardTab
	Represents a tab in the Shuffleboard dashboard. More...

class	ShuffleboardValue

class	ShuffleboardWidget
	Abstract superclass for widgets. More...

class	SimpleMotorFeedforward
	A helper class that computes feedforward voltages for a simple permanent-magnet DC motor. More...

class	SimpleWidget
	A Shuffleboard widget that handles a single data point such as a number or string. More...

class	SlewRateLimiter
	A class that limits the rate of change of an input value. More...

class	SmartDashboard

class	Solenoid
	Solenoid class for running high voltage Digital Output (PCM). More...

class	SolenoidBase
	SolenoidBase class is the common base class for the Solenoid and DoubleSolenoid classes. More...

class	Spark
	REV Robotics SPARK Speed Controller. More...

class	SpeedController
	Interface for speed controlling devices. More...

class	SpeedControllerGroup

class	SPI
	SPI bus interface class. More...

class	Spline
	Represents a two-dimensional parametric spline that interpolates between two points. More...

class	SplineHelper
	Helper class that is used to generate cubic and quintic splines from user provided waypoints. More...

class	SplineParameterizer
	Class used to parameterize a spline by its arc length. More...

class	StartCommand

class	Subsystem

class	SuppliedValueWidget

class	SwerveDriveKinematics
	Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle). More...

class	SwerveDriveKinematicsConstraint
	A class that enforces constraints on the swerve drive kinematics. More...

class	SwerveDriveOdometry
	Class for swerve drive odometry. More...

class	SwerveDrivePoseEstimator
	This class wraps an Unscented Kalman Filter to fuse latency-compensated vision measurements with swerve drive encoder velocity measurements. More...

struct	SwerveModuleState
	Represents the state of one swerve module. More...

class	Talon
	Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller. More...

class	TimedCommand
	A TimedCommand will wait for a timeout before finishing. More...

class	TimedRobot
	TimedRobot implements the IterativeRobotBase robot program framework. More...

class	Timer
	Timer objects measure accumulated time in seconds. More...

class	ToggleButtonScheduler

class	Tracer
	A class for keeping track of how much time it takes for different parts of code to execute. More...

class	Trajectory
	Represents a time-parameterized trajectory. More...

class	TrajectoryConfig
	Represents the configuration for generating a trajectory. More...

class	TrajectoryConstraint
	An interface for defining user-defined velocity and acceleration constraints while generating trajectories. More...

class	TrajectoryGenerator
	Helper class used to generate trajectories with various constraints. More...

class	TrajectoryParameterizer
	Class used to parameterize a trajectory by time. More...

class	TrajectoryUtil

class	Transform2d
	Represents a transformation for a Pose2d. More...

class	Translation2d
	Represents a translation in 2d space. More...

class	TrapezoidProfile
	A trapezoid-shaped velocity profile. More...

class	Trigger
	This class provides an easy way to link commands to inputs. More...

struct	Twist2d
	A change in distance along arc since the last pose update. More...

class	Ultrasonic
	Ultrasonic rangefinder class. More...

class	UnscentedKalmanFilter

struct	Vector2d
	This is a 2D vector struct that supports basic vector operations. More...

class	Victor
	Vex Robotics Victor 888 Speed Controller. More...

class	VictorSP
	Vex Robotics Victor SP Speed Controller. More...

class	VisionPipeline
	A vision pipeline is responsible for running a group of OpenCV algorithms to extract data from an image. More...

class	VisionRunner
	A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot code. More...

class	VisionRunnerBase
	Non-template base class for VisionRunner. More...

class	WaitCommand

class	WaitForChildren

class	WaitUntilCommand

class	Watchdog
	A class that's a wrapper around a watchdog timer. More...

class	WidgetType
	Represents the type of a widget in Shuffleboard. More...

class	XboxController
	Handle input from Xbox 360 or Xbox One controllers connected to the Driver Station. More...

Enumerations
enum	AnalogTriggerType { kInWindow = 0, kState = 1, kRisingPulse = 2, kFallingPulse = 3 }

enum	ShuffleboardEventImportance { kTrivial, kLow, kNormal, kHigh, kCritical }

enum	BuiltInWidgets { BuiltInWidgets::kTextView, BuiltInWidgets::kNumberSlider, BuiltInWidgets::kNumberBar, BuiltInWidgets::kDial, BuiltInWidgets::kGraph, BuiltInWidgets::kBooleanBox, BuiltInWidgets::kToggleButton, BuiltInWidgets::kToggleSwitch, BuiltInWidgets::kVoltageView, BuiltInWidgets::kPowerDistributionPanel, BuiltInWidgets::kComboBoxChooser, BuiltInWidgets::kSplitButtonChooser, BuiltInWidgets::kEncoder, BuiltInWidgets::kSpeedController, BuiltInWidgets::kCommand, BuiltInWidgets::kPIDCommand, BuiltInWidgets::kPIDController, BuiltInWidgets::kAccelerometer, BuiltInWidgets::k3AxisAccelerometer, BuiltInWidgets::kGyro, BuiltInWidgets::kRelay, BuiltInWidgets::kDifferentialDrive, BuiltInWidgets::kMecanumDrive, BuiltInWidgets::kCameraStream }
	The types of the widgets bundled with Shuffleboard. More...

enum	BuiltInLayouts { BuiltInLayouts::kList, BuiltInLayouts::kGrid }
	The types of layouts bundled with Shuffleboard. More...

enum	PIDSourceType { kDisplacement, kRate }

Functions
CameraServerShared *	GetCameraServerShared ()

template<int States, int CovDim>
std::tuple< Eigen::Matrix< double, CovDim, 1 >, Eigen::Matrix< double, CovDim, CovDim > >	UnscentedTransform (const Eigen::Matrix< double, CovDim, 2 States+1 > &sigmas, const Eigen::Matrix< double, 2 States+1, 1 > &Wm, const Eigen::Matrix< double, 2 States+1, 1 > &Wc, std::function< Eigen::Matrix< double, CovDim, 1 >(const Eigen::Matrix< double, CovDim, 2 States+1 > &, const Eigen::Matrix< double, 2 *States+1, 1 > &)> meanFunc, std::function< Eigen::Matrix< double, CovDim, 1 >(const Eigen::Matrix< double, CovDim, 1 > &, const Eigen::Matrix< double, CovDim, 1 > &)> residualFunc)
	Computes unscented transform of a set of sigma points and weights. More...

template<int States>
Eigen::Matrix< double, States, 1 >	AngleResidual (const Eigen::Matrix< double, States, 1 > &a, const Eigen::Matrix< double, States, 1 > &b, int angleStateIdx)
	Subtracts a and b while normalizing the resulting value in the selected row as if it were an angle. More...

template<int States>
std::function< Eigen::Matrix< double, States, 1 >const Eigen::Matrix< double, States, 1 > &, const Eigen::Matrix< double, States, 1 > &)>	AngleResidual (int angleStateIdx)
	Returns a function that subtracts two vectors while normalizing the resulting value in the selected row as if it were an angle. More...

template<int States>
Eigen::Matrix< double, States, 1 >	AngleAdd (const Eigen::Matrix< double, States, 1 > &a, const Eigen::Matrix< double, States, 1 > &b, int angleStateIdx)
	Adds a and b while normalizing the resulting value in the selected row as an angle. More...

template<int States>
std::function< Eigen::Matrix< double, States, 1 >const Eigen::Matrix< double, States, 1 > &, const Eigen::Matrix< double, States, 1 > &)>	AngleAdd (int angleStateIdx)
	Returns a function that adds two vectors while normalizing the resulting value in the selected row as an angle. More...

template<int CovDim, int States>
Eigen::Matrix< double, CovDim, 1 >	AngleMean (const Eigen::Matrix< double, CovDim, 2 States+1 > &sigmas, const Eigen::Matrix< double, 2 States+1, 1 > &Wm, int angleStatesIdx)
	Computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row. More...

template<int CovDim, int States>
std::function< Eigen::Matrix< double, CovDim, 1 > const Eigen::Matrix< double, CovDim, 2 States+1 > &, const Eigen::Matrix< double, 2 States+1, 1 > &)>	AngleMean (int angleStateIdx)
	Returns a function that computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row. More...

template<int Rows, int Cols, typename... Ts, typename = std::enable_if_t<std::conjunction_v<std::is_same<double, Ts>...>>>
Eigen::Matrix< double, Rows, Cols >	MakeMatrix (Ts... elems)
	Creates a matrix from the given list of elements. More...

template<typename... Ts, typename = std::enable_if_t< std::conjunction_v<std::is_same<double, Ts>...>>>
Eigen::Matrix< double, sizeof...(Ts), sizeof...(Ts)>	MakeCostMatrix (Ts... costs)
	Creates a cost matrix from the given vector for use with LQR. More...

template<typename... Ts, typename = std::enable_if_t< std::conjunction_v<std::is_same<double, Ts>...>>>
Eigen::Matrix< double, sizeof...(Ts), sizeof...(Ts)>	MakeCovMatrix (Ts... stdDevs)
	Creates a covariance matrix from the given vector for use with Kalman filters. More...

template<size_t N>
Eigen::Matrix< double, N, N >	MakeCostMatrix (const std::array< double, N > &costs)
	Creates a cost matrix from the given vector for use with LQR. More...

template<size_t N>
Eigen::Matrix< double, N, N >	MakeCovMatrix (const std::array< double, N > &stdDevs)
	Creates a covariance matrix from the given vector for use with Kalman filters. More...

template<typename... Ts, typename = std::enable_if_t< std::conjunction_v<std::is_same<double, Ts>...>>>
Eigen::Matrix< double, sizeof...(Ts), 1 >	MakeWhiteNoiseVector (Ts... stdDevs)

template<int N>
Eigen::Matrix< double, N, 1 >	MakeWhiteNoiseVector (const std::array< double, N > &stdDevs)
	Creates a vector of normally distributed white noise with the given noise intensities for each element. More...

Eigen::Matrix< double, 3, 1 >	PoseTo3dVector (const Pose2d &pose)
	Converts a Pose2d into a vector of [x, y, theta]. More...

Eigen::Matrix< double, 4, 1 >	PoseTo4dVector (const Pose2d &pose)
	Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)]. More...

template<int States, int Inputs>
bool	IsStabilizable (const Eigen::Matrix< double, States, States > &A, const Eigen::Matrix< double, States, Inputs > &B)
	Returns true if (A, B) is a stabilizable pair. More...

template<>
bool	IsStabilizable< 1, 1 > (const Eigen::Matrix< double, 1, 1 > &A, const Eigen::Matrix< double, 1, 1 > &B)

template<>
bool	IsStabilizable< 2, 1 > (const Eigen::Matrix< double, 2, 2 > &A, const Eigen::Matrix< double, 2, 1 > &B)

Eigen::Matrix< double, 3, 1 >	PoseToVector (const Pose2d &pose)
	Converts a Pose2d into a vector of [x, y, theta]. More...

template<int Inputs>
Eigen::Matrix< double, Inputs, 1 >	ClampInputMaxMagnitude (const Eigen::Matrix< double, Inputs, 1 > &u, const Eigen::Matrix< double, Inputs, 1 > &umin, const Eigen::Matrix< double, Inputs, 1 > &umax)
	Clamps input vector between system's minimum and maximum allowable input. More...

template<int Inputs>
Eigen::Matrix< double, Inputs, 1 >	NormalizeInputVector (const Eigen::Matrix< double, Inputs, 1 > &u, double maxMagnitude)
	Normalize all inputs if any excedes the maximum magnitude. More...

void	to_json (wpi::json &json, const Translation2d &state)

void	from_json (const wpi::json &json, Translation2d &state)

void	to_json (wpi::json &json, const Rotation2d &rotation)

void	from_json (const wpi::json &json, Rotation2d &rotation)

void	to_json (wpi::json &json, const Pose2d &pose)

void	from_json (const wpi::json &json, Pose2d &pose)

template<int Rows, int Cols, typename F >
auto	NumericalJacobian (F &&f, const Eigen::Matrix< double, Cols, 1 > &x)
	Returns numerical Jacobian with respect to x for f(x). More...

template<int Rows, int States, int Inputs, typename F , typename... Args>
auto	NumericalJacobianX (F &&f, const Eigen::Matrix< double, States, 1 > &x, const Eigen::Matrix< double, Inputs, 1 > &u, Args &&... args)
	Returns numerical Jacobian with respect to x for f(x, u, ...). More...

template<int Rows, int States, int Inputs, typename F , typename... Args>
auto	NumericalJacobianU (F &&f, const Eigen::Matrix< double, States, 1 > &x, const Eigen::Matrix< double, Inputs, 1 > &u, Args &&... args)
	Returns numerical Jacobian with respect to u for f(x, u, ...). More...

template<int States>
void	DiscretizeA (const Eigen::Matrix< double, States, States > &contA, units::second_t dt, Eigen::Matrix< double, States, States > *discA)
	Discretizes the given continuous A matrix. More...

template<int States, int Inputs>
void	DiscretizeAB (const Eigen::Matrix< double, States, States > &contA, const Eigen::Matrix< double, States, Inputs > &contB, units::second_t dt, Eigen::Matrix< double, States, States > discA, Eigen::Matrix< double, States, Inputs > discB)
	Discretizes the given continuous A and B matrices. More...

template<int States>
void	DiscretizeAQ (const Eigen::Matrix< double, States, States > &contA, const Eigen::Matrix< double, States, States > &contQ, units::second_t dt, Eigen::Matrix< double, States, States > discA, Eigen::Matrix< double, States, States > discQ)
	Discretizes the given continuous A and Q matrices. More...

template<int States>
void	DiscretizeAQTaylor (const Eigen::Matrix< double, States, States > &contA, const Eigen::Matrix< double, States, States > &contQ, units::second_t dt, Eigen::Matrix< double, States, States > discA, Eigen::Matrix< double, States, States > discQ)
	Discretizes the given continuous A and Q matrices. More...

template<int Outputs>
Eigen::Matrix< double, Outputs, Outputs >	DiscretizeR (const Eigen::Matrix< double, Outputs, Outputs > &R, units::second_t dt)
	Returns a discretized version of the provided continuous measurement noise covariance matrix. More...

template<typename F , typename T >
T	RK4 (F &&f, T x, units::second_t dt)
	Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt. More...

template<typename F , typename T , typename U >
T	RK4 (F &&f, T x, U u, units::second_t dt)
	Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt. More...

template<typename F , typename T >
T	RungeKuttaTimeVarying (F &&f, T x, units::second_t t, units::second_t dt)
	Performs 4th order Runge-Kutta integration of dx/dt = f(t, x) for dt. More...

template<typename F , typename T , typename U >
T	RKF45Impl (F &&f, T x, U u, double &h, double maxTruncationError, double dtRemaining)

template<typename F , typename T , typename U >
T	RKF45 (F &&f, T x, U u, units::second_t dt, double maxError=1e-6)
	Performs adaptive RKF45 integration of dx/dt = f(x, u) for dt, as described in https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta%E2%80%93Fehlberg_method. More...

template<class... Wheels>
	SwerveDriveKinematics (Translation2d, Wheels...) -> SwerveDriveKinematics< 1+sizeof...(Wheels)>

template<typename T >
constexpr T	InputModulus (T input, T minimumInput, T maximumInput)
	Returns modulus of input. More...

constexpr units::radian_t	AngleModulus (units::radian_t angle)
	Wraps an angle to the range -pi to pi radians (-180 to 180 degrees). More...

void	to_json (wpi::json &json, const Trajectory::State &state)

void	from_json (const wpi::json &json, Trajectory::State &state)

wpi::StringRef	ShuffleboardEventImportanceName (ShuffleboardEventImportance importance)

void	Wait (double seconds)
	Pause the task for a specified time. More...

double	GetTime ()
	Gives real-time clock system time with nanosecond resolution. More...

int	RunHALInitialization ()

template<class Robot >
int	StartRobot ()

int	GetThreadPriority (std::thread &thread, bool *isRealTime)
	Get the thread priority for the specified thread. More...

int	GetCurrentThreadPriority (bool *isRealTime)
	Get the thread priority for the current thread. More...

bool	SetThreadPriority (std::thread &thread, bool realTime, int priority)
	Sets the thread priority for the specified thread. More...

bool	SetCurrentThreadPriority (bool realTime, int priority)
	Sets the thread priority for the current thread. More...

bool	operator== (const Color &c1, const Color &c2)

bool	operator!= (const Color &c1, const Color &c2)

bool	operator== (const Color8Bit &c1, const Color8Bit &c2)

Detailed Description

WPILib FRC namespace.

Enumeration Type Documentation

◆ BuiltInLayouts

enum frc::BuiltInLayouts

strong

The types of layouts bundled with Shuffleboard.

ShuffleboardLayout myList = Shuffleboard::GetTab("My Tab")
  .GetLayout(BuiltinLayouts::kList, "My List");

Enumerator

kList

Groups components in a vertical list.

New widgets added to the layout will be placed at the bottom of the list.
Custom properties:

Name	Type	Default Value	Notes
Label position	String	"BOTTOM"	The position of component labels inside the grid. One of ["TOP", "LEFT", "BOTTOM", "RIGHT", "HIDDEN"

kGrid

Groups components in an n x m grid.

Grid layouts default to 3x3.
Custom properties:

Name	Type	Default Value	Notes
Number of columns	Number	3	Must be in the range [1,15]
Number of rows	Number	3	Must be in the range [1,15]
Label position	String	"BOTTOM"	The position of component labels inside the grid. One of ["TOP", "LEFT", "BOTTOM", "RIGHT", "HIDDEN"

◆ BuiltInWidgets

enum frc::BuiltInWidgets

strong

The types of the widgets bundled with Shuffleboard.

For example, setting a number to be displayed with a slider:

NetworkTableEntry example = Shuffleboard.getTab("My Tab")
  .add("My Number", 0)
  .withWidget(BuiltInWidgets.kNumberSlider)
  .getEntry();

Each value in this enum goes into detail on what data types that widget can support, as well as the custom properties that widget uses.

Enumerator

kTextView

Displays a value with a simple text field.

Supported types:

String
Number
Boolean

This widget has no custom properties.

kNumberSlider

Displays a number with a controllable slider.

Supported types:

Number

Custom properties:

Name	Type	Default Value	Notes
Min	Number	-1.0	The minimum value of the slider
Max	Number	1.0	The maximum value of the slider
Block increment	Number	0.0625	How much to move the slider by with the arrow keys

kNumberBar

Displays a number with a view-only bar.

Supported types:

Number

Custom properties:

Name	Type	Default Value	Notes
Min	Number	-1.0	The minimum value of the bar
Max	Number	1.0	The maximum value of the bar
Center	Number	0	The center ("zero") value of the bar

kDial

Displays a number with a view-only dial.

Displayed values are rounded to the nearest integer.
Supported types:

Number

Custom properties:

Name	Type	Default Value	Notes
Min	Number	0	The minimum value of the dial
Max	Number	100	The maximum value of the dial
Show value	Boolean	true	Whether or not to show the value as text

kGraph

Displays a number with a graph.

NOTE: graphs can be taxing on the computer running the dashboard. Keep the number of visible data points to a minimum. Making the widget smaller also helps with performance, but may cause the graph to become difficult to read.
Supported types:

Number
Number array

Custom properties:

Name	Type	Default Value	Notes
Visible time	Number	30	How long, in seconds, should past data be visible for

kBooleanBox

Displays a boolean value as a large colored box.

Supported types:

Boolean

Custom properties:

Name	Type	Default Value	Notes
Color when true	Color	"green"	Can be specified as a string ( "#00FF00" ) or a rgba integer ( 0x00FF0000 )
Color when false	Color	"red"	Can be specified as a string or a number

kToggleButton

Displays a boolean with a large interactive toggle button.

Supported types:

Boolean

This widget has no custom properties.

kToggleSwitch

Displays a boolean with a fixed-size toggle switch.

Supported types:

Boolean

This widget has no custom properties.

kVoltageView

Displays an analog input or a raw number with a number bar.

Supported types:

Number
AnalogInput

Custom properties:

Name	Type	Default Value	Notes
Min	Number	0	The minimum value of the bar
Max	Number	5	The maximum value of the bar
Center	Number	0	The center ("zero") value of the bar
Orientation	String	"HORIZONTAL"	The orientation of the bar. One of ["HORIZONTAL", "VERTICAL"]
Number of tick marks	Number	5	The number of discrete ticks on the bar

kPowerDistributionPanel

Displays a PowerDistributionPanel.

Supported types:

PowerDistributionPanel

Custom properties:

Name	Type	Default Value	Notes
Show voltage and current values	Boolean	true	Whether or not to display the voltage and current draw

kComboBoxChooser

Displays a SendableChooser with a dropdown combo box with a list of options.

Supported types:

SendableChooser

This widget has no custom properties.

kSplitButtonChooser

Displays a SendableChooserwith a toggle button for each available option.

Supported types:

SendableChooser

This widget has no custom properties.

kEncoder

Displays an Encoder displaying its speed, total traveled distance, and its distance per tick.

Supported types:

Encoder

This widget has no custom properties.

kSpeedController

Displays a SpeedController.

The speed controller will be controllable from the dashboard when test mode is enabled, but will otherwise be view-only.
Supported types:

Custom properties:

Name	Type	Default Value	Notes
Orientation	String	"HORIZONTAL"	One of ["HORIZONTAL", "VERTICAL"]

kCommand

Displays a command with a toggle button.

Pressing the button will start the command, and the button will automatically release when the command completes.
Supported types:

Command
CommandGroup
Any custom subclass of
Command

or
CommandGroup

This widget has no custom properties.

kPIDCommand

Displays a PID command with a checkbox and an editor for the PIDF constants.

Selecting the checkbox will start the command, and the checkbox will automatically deselect when the command completes.
Supported types:

PIDCommand
Any custom subclass of
PIDCommand

This widget has no custom properties.

kPIDController

Displays a PID controller with an editor for the PIDF constants and a toggle switch for enabling and disabling the controller.

Supported types:

PIDController

This widget has no custom properties.

kAccelerometer

Displays an accelerometer with a number bar displaying the magnitude of the acceleration and text displaying the exact value.

Supported types:

AnalogAccelerometer

Custom properties:

Name	Type	Default Value	Notes
Min	Number	-1	The minimum acceleration value to display
Max	Number	1	The maximum acceleration value to display
Show text	Boolean	true	Show or hide the acceleration values
Precision	Number	2	How many numbers to display after the decimal point
Show tick marks	Boolean	false	Show or hide the tick marks on the number bars

k3AxisAccelerometer

Displays a 3-axis accelerometer with a number bar for each axis' acceleration.

Supported types:

Custom properties:

Name	Type	Default Value	Notes
Range	Range	k16G	The accelerometer range
Show value	Boolean	true	Show or hide the acceleration values
Precision	Number	2	How many numbers to display after the decimal point
Show tick marks	Boolean	false	Show or hide the tick marks on the number bars

kGyro

Displays a gyro with a dial from 0 to 360 degrees.

Supported types:

ADXRS450_Gyro
AnalogGyro
Any custom subclass of
GyroBase

(such as a MXP gyro)

Custom properties:

Name	Type	Default Value	Notes
Major tick spacing	Number	45	Degrees
Starting angle	Number	180	How far to rotate the entire dial, in degrees
Show tick mark ring	Boolean	true

kRelay

Displays a relay with toggle buttons for each supported mode (off, on, forward, reverse).

Supported types:

Relay

This widget has no custom properties.

kDifferentialDrive

Displays a differential drive with a widget that displays the speed of each side of the drivebase and a vector for the direction and rotation of the drivebase.

The widget will be controllable if the robot is in test mode.
Supported types:

DifferentialDrive

Custom properties:

Name	Type	Default Value	Notes
Number of wheels	Number	4	Must be a positive even integer
Wheel diameter	Number	80	Pixels
Show velocity vectors	Boolean	true

kMecanumDrive

Displays a mecanum drive with a widget that displays the speed of each wheel, and vectors for the direction and rotation of the drivebase.

The widget will be controllable if the robot is in test mode.
Supported types:

MecanumDrive

Custom properties:

Name	Type	Default Value	Notes
Show velocity vectors	Boolean	true

kCameraStream

Displays a camera stream.

Supported types:

VideoSource (as long as it is streaming on an MJPEG server)

Custom properties:

Name	Type	Default Value	Notes
Show crosshair	Boolean	true	Show or hide a crosshair on the image
Crosshair color	Color	"white"	Can be a string or a rgba integer
Show controls	Boolean	true	Show or hide the stream controls
Rotation	String	"NONE"	Rotates the displayed image. One of ["NONE", "QUARTER_CW", "QUARTER_CCW", "HALF"]

Function Documentation

◆ AngleAdd() [1/2]

template<int States>

Eigen::Matrix<double, States, 1> frc::AngleAdd	(	const Eigen::Matrix< double, States, 1 > &	a,
		const Eigen::Matrix< double, States, 1 > &	b,
		int	angleStateIdx
	)

Adds a and b while normalizing the resulting value in the selected row as an angle.

Parameters

a	A vector to add with.
b	A vector to add with.
angleStateIdx	The row containing angles to be normalized.

◆ AngleAdd() [2/2]

template<int States>

std::function< Eigen::Matrix<double, States, 1>const Eigen::Matrix<double, States, 1>&, const Eigen::Matrix<double, States, 1>&)> frc::AngleAdd ( int angleStateIdx )

Returns a function that adds two vectors while normalizing the resulting value in the selected row as an angle.

Parameters

angleStateIdx The row containing angles to be normalized.

◆ AngleMean() [1/2]

template<int CovDim, int States>

Eigen::Matrix<double, CovDim, 1> frc::AngleMean	(	const Eigen::Matrix< double, CovDim, 2 *States+1 > &	sigmas,
		const Eigen::Matrix< double, 2 *States+1, 1 > &	Wm,
		int	angleStatesIdx
	)

Computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row.

Parameters

sigmas	Sigma points.
Wm	Weights for the mean.
angleStateIdx	The row containing the angles.

◆ AngleMean() [2/2]

template<int CovDim, int States>

std::function<Eigen::Matrix<double, CovDim, 1> const Eigen::Matrix<double, CovDim, 2 * States + 1>&, const Eigen::Matrix<double, 2 * States + 1, 1>&)> frc::AngleMean ( int angleStateIdx )

Returns a function that computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row.

Parameters

angleStateIdx The row containing the angles.

◆ AngleModulus()

constexpr units::radian_t frc::AngleModulus ( units::radian_t angle )

constexpr

Wraps an angle to the range -pi to pi radians (-180 to 180 degrees).

Parameters

angle Angle to wrap.

◆ AngleResidual() [1/2]

template<int States>

Eigen::Matrix<double, States, 1> frc::AngleResidual	(	const Eigen::Matrix< double, States, 1 > &	a,
		const Eigen::Matrix< double, States, 1 > &	b,
		int	angleStateIdx
	)

Subtracts a and b while normalizing the resulting value in the selected row as if it were an angle.

Parameters

a	A vector to subtract from.
b	A vector to subtract with.
angleStateIdx	The row containing angles to be normalized.

◆ AngleResidual() [2/2]

template<int States>

std::function< Eigen::Matrix<double, States, 1>const Eigen::Matrix<double, States, 1>&, const Eigen::Matrix<double, States, 1>&)> frc::AngleResidual ( int angleStateIdx )

Returns a function that subtracts two vectors while normalizing the resulting value in the selected row as if it were an angle.

Parameters

angleStateIdx The row containing angles to be normalized.

◆ ClampInputMaxMagnitude()

template<int Inputs>

Eigen::Matrix<double, Inputs, 1> frc::ClampInputMaxMagnitude	(	const Eigen::Matrix< double, Inputs, 1 > &	u,
		const Eigen::Matrix< double, Inputs, 1 > &	umin,
		const Eigen::Matrix< double, Inputs, 1 > &	umax
	)

Clamps input vector between system's minimum and maximum allowable input.

Parameters

u	Input vector to clamp.

Returns: Clamped input vector.

◆ DiscretizeA()

template<int States>

void frc::DiscretizeA	(	const Eigen::Matrix< double, States, States > &	contA,
		units::second_t	dt,
		Eigen::Matrix< double, States, States > *	discA
	)

Discretizes the given continuous A matrix.

Parameters

contA	Continuous system matrix.
dt	Discretization timestep.
discA	Storage for discrete system matrix.

◆ DiscretizeAB()

template<int States, int Inputs>

void frc::DiscretizeAB	(	const Eigen::Matrix< double, States, States > &	contA,
		const Eigen::Matrix< double, States, Inputs > &	contB,
		units::second_t	dt,
		Eigen::Matrix< double, States, States > *	discA,
		Eigen::Matrix< double, States, Inputs > *	discB
	)

Discretizes the given continuous A and B matrices.

Parameters

contA	Continuous system matrix.
contB	Continuous input matrix.
dt	Discretization timestep.
discA	Storage for discrete system matrix.
discB	Storage for discrete input matrix.

◆ DiscretizeAQ()

template<int States>

void frc::DiscretizeAQ	(	const Eigen::Matrix< double, States, States > &	contA,
		const Eigen::Matrix< double, States, States > &	contQ,
		units::second_t	dt,
		Eigen::Matrix< double, States, States > *	discA,
		Eigen::Matrix< double, States, States > *	discQ
	)

Discretizes the given continuous A and Q matrices.

Parameters

contA	Continuous system matrix.
contQ	Continuous process noise covariance matrix.
dt	Discretization timestep.
discA	Storage for discrete system matrix.
discQ	Storage for discrete process noise covariance matrix.

◆ DiscretizeAQTaylor()

template<int States>

void frc::DiscretizeAQTaylor	(	const Eigen::Matrix< double, States, States > &	contA,
		const Eigen::Matrix< double, States, States > &	contQ,
		units::second_t	dt,
		Eigen::Matrix< double, States, States > *	discA,
		Eigen::Matrix< double, States, States > *	discQ
	)

Discretizes the given continuous A and Q matrices.

Rather than solving a 2N x 2N matrix exponential like in DiscretizeAQ() (which is expensive), we take advantage of the structure of the block matrix of A and Q.

1) The exponential of A*t, which is only N x N, is relatively cheap. 2) The upper-right quarter of the 2N x 2N matrix, which we can approximate using a taylor series to several terms and still be substantially cheaper than taking the big exponential.

Parameters

contA	Continuous system matrix.
contQ	Continuous process noise covariance matrix.
dt	Discretization timestep.
discA	Storage for discrete system matrix.
discQ	Storage for discrete process noise covariance matrix.

◆ DiscretizeR()

template<int Outputs>

Eigen::Matrix<double, Outputs, Outputs> frc::DiscretizeR	(	const Eigen::Matrix< double, Outputs, Outputs > &	R,
		units::second_t	dt
	)

Returns a discretized version of the provided continuous measurement noise covariance matrix.

Parameters

R	Continuous measurement noise covariance matrix.
dt	Discretization timestep.

◆ GetCurrentThreadPriority()

int frc::GetCurrentThreadPriority ( bool * isRealTime )

Get the thread priority for the current thread.

Parameters

isRealTime Set to true if thread is real-time, otherwise false.

Returns: The current thread priority. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is 0. See "man 7 sched" for details.

◆ GetThreadPriority()

int frc::GetThreadPriority	(	std::thread &	thread,
		bool *	isRealTime
	)

Get the thread priority for the specified thread.

Parameters

thread	Reference to the thread to get the priority for.
isRealTime	Set to true if thread is real-time, otherwise false.

Returns: The current thread priority. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is 0. See "man 7 sched" for details.

◆ GetTime()

double frc::GetTime ( )

Gives real-time clock system time with nanosecond resolution.

Returns: The time, just in case you want the robot to start autonomous at 8pm on Saturday.

◆ InputModulus()

template<typename T >

constexpr T frc::InputModulus	(	T	input,
		T	minimumInput,
		T	maximumInput
	)

constexpr

Returns modulus of input.

Parameters

input	Input value to wrap.
minimumInput	The minimum value expected from the input.
maximumInput	The maximum value expected from the input.

◆ IsStabilizable()

template<int States, int Inputs>

bool frc::IsStabilizable	(	const Eigen::Matrix< double, States, States > &	A,
		const Eigen::Matrix< double, States, Inputs > &	B
	)

Returns true if (A, B) is a stabilizable pair.

(A,B) is stabilizable if and only if the uncontrollable eigenvalues of A, if any, have absolute values less than one, where an eigenvalue is uncontrollable if rank(lambda * I - A, B) < n where n is number of states.

Parameters

A	System matrix.
B	Input matrix.

◆ MakeCostMatrix() [1/2]

template<size_t N>

Eigen::Matrix<double, N, N> frc::MakeCostMatrix ( const std::array< double, N > & costs )

Creates a cost matrix from the given vector for use with LQR.

The cost matrix is constructed using Bryson's rule. The inverse square of each element in the input is taken and placed on the cost matrix diagonal.

Parameters

costs An array. For a Q matrix, its elements are the maximum allowed excursions of the states from the reference. For an R matrix, its elements are the maximum allowed excursions of the control inputs from no actuation.

Returns: State excursion or control effort cost matrix.

◆ MakeCostMatrix() [2/2]

template<typename... Ts, typename = std::enable_if_t< std::conjunction_v<std::is_same<double, Ts>...>>>

Eigen::Matrix<double, sizeof...(Ts), sizeof...(Ts)> frc::MakeCostMatrix ( Ts... costs )

Creates a cost matrix from the given vector for use with LQR.

The cost matrix is constructed using Bryson's rule. The inverse square of each element in the input is taken and placed on the cost matrix diagonal.

Parameters

costs An array. For a Q matrix, its elements are the maximum allowed excursions of the states from the reference. For an R matrix, its elements are the maximum allowed excursions of the control inputs from no actuation.

Returns: State excursion or control effort cost matrix.

◆ MakeCovMatrix() [1/2]

template<size_t N>

Eigen::Matrix<double, N, N> frc::MakeCovMatrix ( const std::array< double, N > & stdDevs )

Creates a covariance matrix from the given vector for use with Kalman filters.

Each element is squared and placed on the covariance matrix diagonal.

Parameters

stdDevs An array. For a Q matrix, its elements are the standard deviations of each state from how the model behaves. For an R matrix, its elements are the standard deviations for each output measurement.

Returns: Process noise or measurement noise covariance matrix.

◆ MakeCovMatrix() [2/2]

template<typename... Ts, typename = std::enable_if_t< std::conjunction_v<std::is_same<double, Ts>...>>>

Eigen::Matrix<double, sizeof...(Ts), sizeof...(Ts)> frc::MakeCovMatrix ( Ts... stdDevs )

Creates a covariance matrix from the given vector for use with Kalman filters.

Each element is squared and placed on the covariance matrix diagonal.

Parameters

stdDevs An array. For a Q matrix, its elements are the standard deviations of each state from how the model behaves. For an R matrix, its elements are the standard deviations for each output measurement.

Returns: Process noise or measurement noise covariance matrix.

◆ MakeMatrix()

template<int Rows, int Cols, typename... Ts, typename = std::enable_if_t<std::conjunction_v<std::is_same<double, Ts>...>>>

Eigen::Matrix<double, Rows, Cols> frc::MakeMatrix ( Ts... elems )

Creates a matrix from the given list of elements.

The elements of the matrix are filled in in row-major order.

Parameters

elems An array of elements in the matrix.

Returns: A matrix containing the given elements.

◆ MakeWhiteNoiseVector()

template<int N>

Eigen::Matrix<double, N, 1> frc::MakeWhiteNoiseVector ( const std::array< double, N > & stdDevs )

Creates a vector of normally distributed white noise with the given noise intensities for each element.

Parameters

stdDevs An array whose elements are the standard deviations of each element of the noise vector.

Returns: White noise vector.

◆ NormalizeInputVector()

template<int Inputs>

Eigen::Matrix<double, Inputs, 1> frc::NormalizeInputVector	(	const Eigen::Matrix< double, Inputs, 1 > &	u,
		double	maxMagnitude
	)

Normalize all inputs if any excedes the maximum magnitude.

Useful for systems such as differential drivetrains.

Parameters

u	The input vector.
maxMagnitude	The maximum magnitude any input can have.
<I>	The number of inputs.

Returns: The normalizedInput

◆ NumericalJacobian()

template<int Rows, int Cols, typename F >

auto frc::NumericalJacobian	(	F &&	f,
		const Eigen::Matrix< double, Cols, 1 > &	x
	)

Returns numerical Jacobian with respect to x for f(x).

Template Parameters

Rows	Number of rows in result of f(x).
Cols	Number of columns in result of f(x).

Parameters

f	Vector-valued function from which to compute Jacobian.
x	Vector argument.

◆ NumericalJacobianU()

template<int Rows, int States, int Inputs, typename F , typename... Args>

auto frc::NumericalJacobianU	(	F &&	f,
		const Eigen::Matrix< double, States, 1 > &	x,
		const Eigen::Matrix< double, Inputs, 1 > &	u,
		Args &&...	args
	)

Returns numerical Jacobian with respect to u for f(x, u, ...).

Template Parameters

Rows	Number of rows in result of f(x, u, ...).
States	Number of rows in x.
Inputs	Number of rows in u.
F	Function object type.
Args...	Remaining arguments to f(x, u, ...).

Parameters

f	Vector-valued function from which to compute Jacobian.
x	State vector.
u	Input vector.

◆ NumericalJacobianX()

template<int Rows, int States, int Inputs, typename F , typename... Args>

auto frc::NumericalJacobianX	(	F &&	f,
		const Eigen::Matrix< double, States, 1 > &	x,
		const Eigen::Matrix< double, Inputs, 1 > &	u,
		Args &&...	args
	)

Returns numerical Jacobian with respect to x for f(x, u, ...).

Template Parameters

Rows	Number of rows in result of f(x, u, ...).
States	Number of rows in x.
Inputs	Number of rows in u.
F	Function object type.
Args...	Remaining arguments to f(x, u, ...).

Parameters

f	Vector-valued function from which to compute Jacobian.
x	State vector.
u	Input vector.

◆ PoseTo3dVector()

Eigen::Matrix<double, 3, 1> frc::PoseTo3dVector ( const Pose2d & pose )

Converts a Pose2d into a vector of [x, y, theta].

Parameters

pose	The pose that is being represented.

Returns: The vector.

◆ PoseTo4dVector()

Eigen::Matrix<double, 4, 1> frc::PoseTo4dVector ( const Pose2d & pose )

Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)].

Parameters

pose	The pose that is being represented.

Returns: The vector.

◆ PoseToVector()

Eigen::Matrix<double, 3, 1> frc::PoseToVector ( const Pose2d & pose )

Converts a Pose2d into a vector of [x, y, theta].

Parameters

pose	The pose that is being represented.

Returns: The vector.

◆ RK4() [1/2]

template<typename F , typename T , typename U >

T frc::RK4	(	F &&	f,
		T	x,
		U	u,
		units::second_t	dt
	)

Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.

Parameters

f	The function to integrate. It must take two arguments x and u.
x	The initial value of x.
u	The value u held constant over the integration period.
dt	The time over which to integrate.

◆ RK4() [2/2]

template<typename F , typename T >

T frc::RK4	(	F &&	f,
		T	x,
		units::second_t	dt
	)

Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt.

Parameters

f	The function to integrate. It must take one argument x.
x	The initial value of x.
dt	The time over which to integrate.

◆ RKF45()

template<typename F , typename T , typename U >

T frc::RKF45	(	F &&	f,
		T	x,
		U	u,
		units::second_t	dt,
		double	maxError = `1e-6`
	)

Performs adaptive RKF45 integration of dx/dt = f(x, u) for dt, as described in https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta%E2%80%93Fehlberg_method.

Parameters

f	The function to integrate. It must take two arguments x and u.
x	The initial value of x.
u	The value u held constant over the integration period.
dt	The time over which to integrate.
maxError	The maximum acceptable truncation error. Usually a small number like 1e-6.

◆ RungeKuttaTimeVarying()

template<typename F , typename T >

T frc::RungeKuttaTimeVarying	(	F &&	f,
		T	x,
		units::second_t	t,
		units::second_t	dt
	)

Performs 4th order Runge-Kutta integration of dx/dt = f(t, x) for dt.

Parameters

f	The function to integrate. It must take two arguments x and t.
x	The initial value of x.
t	The initial value of t.
dt	The time over which to integrate.

◆ SetCurrentThreadPriority()

bool frc::SetCurrentThreadPriority	(	bool	realTime,
		int	priority
	)

Sets the thread priority for the current thread.

Parameters

realTime	Set to true to set a real-time priority, false for standard priority.
priority	Priority to set the thread to. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is forced to 0. See "man 7 sched" for more details.

Returns: True on success.

◆ SetThreadPriority()

bool frc::SetThreadPriority	(	std::thread &	thread,
		bool	realTime,
		int	priority
	)

Sets the thread priority for the specified thread.

Parameters

thread	Reference to the thread to set the priority of.
realTime	Set to true to set a real-time priority, false for standard priority.
priority	Priority to set the thread to. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is forced to 0. See "man 7 sched" for more details.

Returns: True on success.

◆ UnscentedTransform()

template<int States, int CovDim>

std::tuple<Eigen::Matrix<double, CovDim, 1>, Eigen::Matrix<double, CovDim, CovDim> > frc::UnscentedTransform	(	const Eigen::Matrix< double, CovDim, 2 *States+1 > &	sigmas,
		const Eigen::Matrix< double, 2 *States+1, 1 > &	Wm,
		const Eigen::Matrix< double, 2 *States+1, 1 > &	Wc,
		std::function< Eigen::Matrix< double, CovDim, 1 >(const Eigen::Matrix< double, CovDim, 2 States+1 > &, const Eigen::Matrix< double, 2 States+1, 1 > &)>	meanFunc,
		std::function< Eigen::Matrix< double, CovDim, 1 >(const Eigen::Matrix< double, CovDim, 1 > &, const Eigen::Matrix< double, CovDim, 1 > &)>	residualFunc
	)

Computes unscented transform of a set of sigma points and weights.

CovDim returns the mean and covariance in a tuple.

This works in conjunction with the UnscentedKalmanFilter class.

Template Parameters

States	Number of states.
CovDim	Dimension of covariance of sigma points after passing through the transform.

Parameters

sigmas	List of sigma points.
Wm	Weights for the mean.
Wc	Weights for the covariance.

Returns: Tuple of x, mean of sigma points; P, covariance of sigma points after passing through the transform.

◆ Wait()

void frc::Wait ( double seconds )

Pause the task for a specified time.

Pause the execution of the program for a specified period of time given in seconds. Motors will continue to run at their last assigned values, and sensors will continue to update. Only the task containing the wait will pause until the wait time is expired.

Parameters

seconds Length of time to pause, in seconds.

Namespaces

Classes

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ BuiltInLayouts

◆ BuiltInWidgets

Function Documentation

◆ AngleAdd() [1/2]

◆ AngleAdd() [2/2]

◆ AngleMean() [1/2]

◆ AngleMean() [2/2]

◆ AngleModulus()

◆ AngleResidual() [1/2]

◆ AngleResidual() [2/2]

◆ ClampInputMaxMagnitude()

◆ DiscretizeA()

◆ DiscretizeAB()

◆ DiscretizeAQ()

◆ DiscretizeAQTaylor()

◆ DiscretizeR()

◆ GetCurrentThreadPriority()

◆ GetThreadPriority()

◆ GetTime()

◆ InputModulus()

◆ IsStabilizable()

◆ MakeCostMatrix() [1/2]

◆ MakeCostMatrix() [2/2]

◆ MakeCovMatrix() [1/2]

◆ MakeCovMatrix() [2/2]

◆ MakeMatrix()

◆ MakeWhiteNoiseVector()

◆ NormalizeInputVector()

◆ NumericalJacobian()

◆ NumericalJacobianU()

◆ NumericalJacobianX()

◆ PoseTo3dVector()

◆ PoseTo4dVector()

◆ PoseToVector()

◆ RK4() [1/2]

◆ RK4() [2/2]

◆ RKF45()

◆ RungeKuttaTimeVarying()

◆ SetCurrentThreadPriority()

◆ SetThreadPriority()

◆ UnscentedTransform()

◆ Wait()