Namespaces
namespace	detail

namespace	err

namespace	filesystem
	WPILib FileSystem namespace.

namespace	impl

namespace	internal

namespace	sim

namespace	warn

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

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

class	ADIS16448_IMU
	Use DMA SPI to read rate, acceleration, and magnetometer data from the ADIS16448 IMU and return the robots heading relative to a starting position, AHRS, and instant measurements. More...

class	ADIS16470_IMU
	Use DMA SPI to read rate and acceleration data from the ADIS16470 IMU and return the robot's heading relative to a starting position and instant measurements. 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...

struct	AprilTag

class	AprilTagDetection
	A detection of an AprilTag tag. More...

class	AprilTagDetector
	An AprilTag detector engine. More...

class	AprilTagFieldLayout
	Class for representing a layout of AprilTags on a field and reading them from a JSON format. More...

struct	AprilTagPoseEstimate
	A pair of AprilTag pose estimates. More...

class	AprilTagPoseEstimator
	Pose estimators for AprilTag tags. 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	AsynchronousInterrupt
	Class for handling asynchronous interrupts using a callback thread. More...

class	BangBangController
	Implements a bang-bang controller, which outputs either 0 or 1 depending on whether the measurement is less than the setpoint. More...

class	BooleanEvent
	This class provides an easy way to link actions to inputs. More...

class	BuiltInAccelerometer
	Built-in accelerometer. More...

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...

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

class	Compressor
	Class for operating a compressor connected to a pneumatics module. More...

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

class	CoordinateAxis
	A class representing a coordinate system axis within the NWU coordinate system. More...

class	CoordinateSystem
	A helper class that converts Pose3d objects between different standard coordinate frames. 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	DataLogManager
	Centralized data log that provides automatic data log file management. More...

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

class	Debouncer
	A simple debounce filter for boolean streams. 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	DifferentialDriveAccelerationLimiter
	Filters the provided voltages to limit a differential drive's linear and angular acceleration. More...

class	DifferentialDriveFeedforward
	A helper class which computes the feedforward outputs for a differential drive drivetrain. 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 Differential Drive Odometry 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...

struct	DifferentialDriveWheelVoltages
	Motor voltages for a differential drive. 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 Motor Controller. More...

class	DoubleSolenoid
	DoubleSolenoid class for running 2 channels of high voltage Digital Output on a pneumatics module. More...

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

class	DSControlWord
	A wrapper around Driver Station control word. 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	EventLoop
	The loop polling BooleanEvent objects and executing the actions bound to them. More...

class	ExtendedKalmanFilter
	A Kalman filter combines predictions from a model and measurements to give an estimate of the true system state. More...

class	ExternalDirectionCounter
	Counter using external direction. More...

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

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

class	GenericHID
	Handle input from standard HID devices connected to the Driver Station. More...

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

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

class	I2C
	I2C bus interface class. More...

class	ImplicitModelFollower
	Contains the controller coefficients and logic for an implicit model follower. More...

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

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

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

class	KalmanFilter
	A Kalman filter combines predictions from a model and measurements to give an estimate of the true system state. More...

class	KalmanFilterLatencyCompensator

class	LayoutType
	Represents the type of a layout in Shuffleboard. 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
	Contains the controller coefficients and logic for a linear-quadratic regulator (LQR). More...

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	LTVDifferentialDriveController
	The linear time-varying differential drive controller has a similar form to the LQR, but the model used to compute the controller gain is the nonlinear model linearized around the drivetrain's current state. More...

class	LTVUnicycleController
	The linear time-varying unicycle controller has a similar form to the LQR, but the model used to compute the controller gain is the nonlinear model linearized around the drivetrain's current state. 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 Mecanum Drive Odometry to fuse latency-compensated vision measurements with mecanum drive encoder velocity measurements. More...

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

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

class	Mechanism2d
	Visual 2D representation of arms, elevators, and general mechanisms through a node-based API. More...

class	MechanismLigament2d
	Ligament node on a Mechanism2d. More...

class	MechanismObject2d
	Common base class for all Mechanism2d node types. More...

class	MechanismRoot2d
	Root Mechanism2d node. More...

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	MotorController
	Interface for motor controlling devices. More...

class	MotorControllerGroup
	Allows multiple MotorController objects to be linked together. More...

class	MotorSafety
	The Motor Safety feature acts as a watchdog timer for an individual motor. More...

class	NetworkBooleanEvent
	A Button that uses a NetworkTable boolean field. More...

class	NidecBrushless
	Nidec Brushless Motor. More...

class	Notifier
	Notifiers run a callback function on a separate thread at a specified period. More...

class	PneumaticHub
	Module class for controlling a REV Robotics Pneumatic Hub. More...

class	PneumaticsBase

class	PneumaticsControlModule
	Module class for controlling a Cross The Road Electronics Pneumatics Control Module. More...

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

class	Pose3d
	Represents a 3D pose containing translational and rotational elements. More...

class	PowerDistribution
	Class for getting voltage, current, temperature, power and energy from the CTRE Power Distribution Panel (PDP) or REV Power Distribution Hub (PDH). 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	ProfiledPIDController
	Implements a PID control loop whose setpoint is constrained by a trapezoid profile. More...

class	PS4Controller
	Handle input from PS4 controllers connected to the Driver Station. More...

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

class	PWMMotorController
	Common base class for all PWM Motor Controllers. More...

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

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

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

class	Quaternion

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

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

class	RobotController

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

class	RobotState

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

class	Rotation3d
	A rotation in a 3D coordinate frame represented by a quaternion. More...

class	RuntimeError
	Runtime error exception. More...

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 Motor Controller. More...

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	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 on a pneumatics module. More...

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

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	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 Swerve Drive Odometry to fuse latency-compensated vision measurements with swerve drive encoder distance measurements. More...

struct	SwerveModulePosition
	Represents the position of one swerve module. More...

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

class	SynchronousInterrupt
	Class for handling synchronous (blocking) interrupts. More...

class	Tachometer
	Tachometer for getting rotational speed from a device. More...

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

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

class	TimeInterpolatableBuffer
	The TimeInterpolatableBuffer provides an easy way to estimate past measurements. More...

class	Timer
	A timer class. More...

class	TimesliceRobot
	TimesliceRobot extends the TimedRobot robot program framework to provide timeslice scheduling of periodic functions. More...

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	Transform3d
	Represents a transformation for a Pose3d. More...

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

class	Translation3d
	Represents a translation in 3D space. More...

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

struct	Twist2d
	A change in distance along a 2D arc since the last pose update. More...

struct	Twist3d
	A change in distance along a 3D arc since the last pose update. More...

class	Ultrasonic
	Ultrasonic rangefinder class. More...

class	UnscentedKalmanFilter
	A Kalman filter combines predictions from a model and measurements to give an estimate of the true system state. More...

class	UpDownCounter
	Up Down Counter. More...

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

class	VictorSP
	Vex Robotics Victor SP Motor 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	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...

Typedefs
template<int Size>
using	Vectord = Eigen::Vector< double, Size >

template<int Rows, int Cols, int Options = Eigen::AutoAlign \| ((Rows == 1 && Cols != 1) ? Eigen::RowMajor : (Cols == 1 && Rows != 1) ? Eigen::ColMajor : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION), int MaxRows = Rows, int MaxCols = Cols>
using	Matrixd = Eigen::Matrix< double, Rows, Cols, Options, MaxRows, MaxCols >

Enumerations
enum class	AprilTagField { k2022RapidReact , k2023ChargedUp , kNumFields }

enum class	PneumaticsModuleType { CTREPCM , REVPH }

enum class	EdgeConfiguration { kNone = 0 , kRisingEdge = 0x1 , kFallingEdge = 0x2 , kBoth = 0x3 }

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

enum	RuntimeType { kRoboRIO , kRoboRIO2 , kSimulation }

enum class	CompressorConfigType { Disabled = 0 , Digital = 1 , Analog = 2 , Hybrid = 3 }

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

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

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

Functions
AprilTagDetector::Results	AprilTagDetect (AprilTagDetector &detector, cv::Mat &image)

WPILIB_DLLEXPORT AprilTagFieldLayout	LoadAprilTagLayoutField (AprilTagField field)
	Loads an AprilTagFieldLayout from a predefined field. More...

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const AprilTag &apriltag)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, AprilTag &apriltag)

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const AprilTagFieldLayout &layout)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, AprilTagFieldLayout &layout)

CameraServerShared *	GetCameraServerShared ()

void	Wait (units::second_t seconds)
	Pause the task for a specified time. More...

units::second_t	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...

const char *	GetErrorMessage (int32_t *code)
	Gets error message string for an error code. More...

void	ReportErrorV (int32_t status, const char fileName, int lineNumber, const char funcName, fmt::string_view format, fmt::format_args args)
	Reports an error to the driver station (using HAL_SendError). More...

template<typename... Args>
void	ReportError (int32_t status, const char fileName, int lineNumber, const char funcName, fmt::string_view format, Args &&... args)
	Reports an error to the driver station (using HAL_SendError). More...

RuntimeError	MakeErrorV (int32_t status, const char fileName, int lineNumber, const char funcName, fmt::string_view format, fmt::format_args args)
	Makes a runtime error exception object. More...

template<typename... Args>
RuntimeError	MakeError (int32_t status, const char fileName, int lineNumber, const char funcName, fmt::string_view format, Args &&... args)

std::string_view	ShuffleboardEventImportanceName (ShuffleboardEventImportance importance)

template class	EXPORT_TEMPLATE_DECLARE (WPILIB_DLLEXPORT) LinearQuadraticRegulator< 1

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

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

WPILIB_DLLEXPORT Vectord< 3 >	PoseTo3dVector (const Pose2d &pose)
	Converts a Pose2d into a vector of [x, y, theta]. More...

WPILIB_DLLEXPORT Vectord< 4 >	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 Matrixd< States, States > &A, const Matrixd< States, Inputs > &B)
	Returns true if (A, B) is a stabilizable pair. More...

template<int States, int Outputs>
bool	IsDetectable (const Matrixd< States, States > &A, const Matrixd< Outputs, States > &C)
	Returns true if (A, C) is a detectable pair. More...

template<>
WPILIB_DLLEXPORT bool	IsStabilizable< 1, 1 > (const Matrixd< 1, 1 > &A, const Matrixd< 1, 1 > &B)

template<>
WPILIB_DLLEXPORT bool	IsStabilizable< 2, 1 > (const Matrixd< 2, 2 > &A, const Matrixd< 2, 1 > &B)

WPILIB_DLLEXPORT Vectord< 3 >	PoseToVector (const Pose2d &pose)
	Converts a Pose2d into a vector of [x, y, theta]. More...

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

template<int Inputs>
Vectord< Inputs >	DesaturateInputVector (const Vectord< Inputs > &u, double maxMagnitude)
	Renormalize all inputs if any exceeds the maximum magnitude. More...

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

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const Rotation3d &rotation)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, Rotation3d &rotation)

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

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

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const Pose3d &pose)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, Pose3d &pose)

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const Translation3d &state)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, Translation3d &state)

WPILIB_DLLEXPORT void	to_json (wpi::json &json, const Quaternion &quaternion)

WPILIB_DLLEXPORT void	from_json (const wpi::json &json, Quaternion &quaternion)

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

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

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

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

template<typename T , typename = std::enable_if_t<std::disjunction_v< std::is_floating_point<T>, units::traits::is_unit_t<T>>>>
T	ApplyDeadband (T value, T deadband, T maxMagnitude=T{1.0})
	Returns 0.0 if the given value is within the specified range around zero. More...

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

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

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

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

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

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

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

template<int Rows, int Cols, typename F >
auto	NumericalJacobian (F &&f, const Vectord< Cols > &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 Vectord< States > &x, const Vectord< Inputs > &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 Vectord< States > &x, const Vectord< Inputs > &u, Args &&... args)
	Returns numerical Jacobian with respect to u for f(x, u, ...). 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 , typename U >
T	RKDP (F &&f, T x, U u, units::second_t dt, double maxError=1e-6)
	Performs adaptive Dormand-Prince integration of dx/dt = f(x, u) for dt. More...

WPILIB_DLLEXPORT frc::Pose3d	ObjectToRobotPose (const frc::Pose3d &objectInField, const frc::Transform3d &cameraToObject, const frc::Transform3d &robotToCamera)
	Returns the robot's pose in the field coordinate system given an object's field-relative pose, the transformation from the camera's pose to the object's pose (obtained via computer vision), and the transformation from the robot's pose to the camera's pose. More...

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

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

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

template<int States>
Vectord< States >	AngleResidual (const Vectord< States > &a, const Vectord< States > &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< Vectord< States >(const Vectord< States > &, const Vectord< States > &)>	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>
Vectord< States >	AngleAdd (const Vectord< States > &a, const Vectord< States > &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< Vectord< States >(const Vectord< States > &, const Vectord< States > &)>	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>
Vectord< CovDim >	AngleMean (const Matrixd< CovDim, 2 States+1 > &sigmas, const Vectord< 2 States+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< Vectord< CovDim >(const Matrixd< CovDim, 2 States+1 > &, const Vectord< 2 States+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...

Variables
class WPILIB_DLLEXPORT	Pose3d

class WPILIB_DLLEXPORT	Pose2d

Typedef Documentation

◆ Matrixd

template<int Rows, int Cols, int Options = Eigen::AutoAlign | ((Rows == 1 && Cols != 1) ? Eigen::RowMajor : (Cols == 1 && Rows != 1) ? Eigen::ColMajor : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION), int MaxRows = Rows, int MaxCols = Cols>

using frc::Matrixd = typedef Eigen::Matrix<double, Rows, Cols, Options, MaxRows, MaxCols>

◆ Vectord

template<int Size>

using frc::Vectord = typedef Eigen::Vector<double, Size>

Enumeration Type Documentation

◆ AnalogTriggerType

enum class frc::AnalogTriggerType

strong

Enumerator
kInWindow
kState
kRisingPulse
kFallingPulse

◆ AprilTagField

enum class frc::AprilTagField

strong

Enumerator
k2022RapidReact
k2023ChargedUp
kNumFields

◆ BuiltInLayouts

enum class 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 class 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

kPowerDistribution

Displays a PowerDistribution.

Supported types:

PowerDistribution

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.

kMotorController

Displays a MotorController.

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

PWMMotorController
DMC60
Jaguar
PWMTalonSRX
PWMVictorSPX
SD540
Spark
Talon
Victor
VictorSP
MotorControllerGroup
Any custom subclass of SpeedContorller

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"]`

kField

Displays a field2d object.

Supported types:

Field2d

◆ CompressorConfigType

enum class frc::CompressorConfigType

strong

Enumerator
Disabled
Digital
Analog
Hybrid

◆ EdgeConfiguration

enum class frc::EdgeConfiguration

strong

Enumerator
kNone
kRisingEdge
kFallingEdge
kBoth

◆ PneumaticsModuleType

enum class frc::PneumaticsModuleType

strong

Enumerator
CTREPCM
REVPH

◆ RuntimeType

enum frc::RuntimeType

Enumerator
kRoboRIO
kRoboRIO2
kSimulation

◆ ShuffleboardEventImportance

enum frc::ShuffleboardEventImportance

Enumerator
kTrivial
kLow
kNormal
kHigh
kCritical

Function Documentation

◆ AngleAdd() [1/2]

template<int States>

Vectord< States > frc::AngleAdd	(	const Vectord< States > &	a,
		const Vectord< States > &	b,
		int	angleStateIdx
	)

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

Template Parameters

States The number of states.

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< Vectord< States >(const Vectord< States > &, const Vectord< States > &)> frc::AngleAdd ( int angleStateIdx )

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

Template Parameters

States The number of states.

Parameters

angleStateIdx The row containing angles to be normalized.

◆ AngleMean() [1/2]

template<int CovDim, int States>

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

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

Template Parameters

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

Parameters

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

◆ AngleMean() [2/2]

template<int CovDim, int States>

std::function< Vectord< CovDim >(const Matrixd< CovDim, 2 *States+1 > &, const Vectord< 2 *States+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.

Template Parameters

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

Parameters

angleStateIdx The row containing the angles.

◆ AngleModulus()

WPILIB_DLLEXPORT 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>

Vectord< States > frc::AngleResidual	(	const Vectord< States > &	a,
		const Vectord< States > &	b,
		int	angleStateIdx
	)

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

Template Parameters

States The number of states.

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< Vectord< States >(const Vectord< States > &, const Vectord< States > &)> 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.

Template Parameters

States The number of states.

Parameters

angleStateIdx The row containing angles to be normalized.

◆ ApplyDeadband()

template<typename T , typename = std::enable_if_t<std::disjunction_v< std::is_floating_point<T>, units::traits::is_unit_t<T>>>>

T frc::ApplyDeadband	(	T	value,
		T	deadband,
		T	maxMagnitude = `T{1.0}`
	)

Returns 0.0 if the given value is within the specified range around zero.

The remaining range between the deadband and the maximum magnitude is scaled from 0.0 to the maximum magnitude.

Parameters

value	Value to clip.
deadband	Range around zero.
maxMagnitude	The maximum magnitude of the input (defaults to 1). Can be infinite.

Returns: The value after the deadband is applied.

◆ AprilTagDetect()

AprilTagDetector::Results frc::AprilTagDetect	(	AprilTagDetector &	detector,
		cv::Mat &	image
	)

inline

◆ ClampInputMaxMagnitude()

template<int Inputs>

Vectord< Inputs > frc::ClampInputMaxMagnitude	(	const Vectord< Inputs > &	u,
		const Vectord< Inputs > &	umin,
		const Vectord< Inputs > &	umax
	)

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

Template Parameters

Inputs The number of inputs.

Parameters

u	Input vector to clamp.
umin	The minimum input magnitude.
umax	The maximum input magnitude.

Returns: Clamped input vector.

◆ DesaturateInputVector()

template<int Inputs>

Vectord< Inputs > frc::DesaturateInputVector	(	const Vectord< Inputs > &	u,
		double	maxMagnitude
	)

Renormalize all inputs if any exceeds the maximum magnitude.

Useful for systems such as differential drivetrains.

Template Parameters

Inputs The number of inputs.

Parameters

u	The input vector.
maxMagnitude	The maximum magnitude any input can have.

Returns: The normalizedInput

◆ DiscretizeA()

template<int States>

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

Discretizes the given continuous A matrix.

Template Parameters

States Number of states.

Parameters

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

◆ DiscretizeAB()

template<int States, int Inputs>

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

Discretizes the given continuous A and B matrices.

Template Parameters

States	Number of states.
Inputs	Number of inputs.

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 Matrixd< States, States > &	contA,
		const Matrixd< States, States > &	contQ,
		units::second_t	dt,
		Matrixd< States, States > *	discA,
		Matrixd< States, States > *	discQ
	)

Discretizes the given continuous A and Q matrices.

Template Parameters

States Number of states.

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 Matrixd< States, States > &	contA,
		const Matrixd< States, States > &	contQ,
		units::second_t	dt,
		Matrixd< States, States > *	discA,
		Matrixd< 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.

eᴬᵀ, which is only N x N, is relatively cheap.
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.

Template Parameters

States Number of states.

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>

Matrixd< Outputs, Outputs > frc::DiscretizeR	(	const Matrixd< Outputs, Outputs > &	R,
		units::second_t	dt
	)

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

Template Parameters

Outputs Number of outputs.

Parameters

R	Continuous measurement noise covariance matrix.
dt	Discretization timestep.

◆ EXPORT_TEMPLATE_DECLARE()

template class frc::EXPORT_TEMPLATE_DECLARE ( WPILIB_DLLEXPORT )

◆ from_json() [1/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		AprilTag &	apriltag
	)

◆ from_json() [2/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		AprilTagFieldLayout &	layout
	)

◆ from_json() [3/10]

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

◆ from_json() [4/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		Pose3d &	pose
	)

◆ from_json() [5/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		Quaternion &	quaternion
	)

◆ from_json() [6/10]

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

◆ from_json() [7/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		Rotation3d &	rotation
	)

◆ from_json() [8/10]

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

◆ from_json() [9/10]

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

◆ from_json() [10/10]

WPILIB_DLLEXPORT void frc::from_json	(	const wpi::json &	json,
		Translation3d &	state
	)

◆ GetCameraServerShared()

CameraServerShared * frc::GetCameraServerShared ( )

◆ 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.

◆ GetErrorMessage()

const char * frc::GetErrorMessage ( int32_t * code )

Gets error message string for an error code.

◆ 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()

units::second_t 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.

◆ IsDetectable()

template<int States, int Outputs>

bool frc::IsDetectable	(	const Matrixd< States, States > &	A,
		const Matrixd< Outputs, States > &	C
	)

Returns true if (A, C) is a detectable pair.

(A, C) is detectable if and only if the unobservable eigenvalues of A, if any, have absolute values less than one, where an eigenvalue is unobservable if rank(λI - A; C) < n where n is the number of states.

Template Parameters

States	The number of states.
Outputs	The number of outputs.

Parameters

A	System matrix.
C	Output matrix.

◆ IsStabilizable()

template<int States, int Inputs>

bool frc::IsStabilizable	(	const Matrixd< States, States > &	A,
		const Matrixd< 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(λI - A, B) < n where n is the number of states.

Template Parameters

States	The number of states.
Inputs	The number of inputs.

Parameters

A	System matrix.
B	Input matrix.

◆ IsStabilizable< 1, 1 >()

template<>

WPILIB_DLLEXPORT bool frc::IsStabilizable< 1, 1 >	(	const Matrixd< 1, 1 > &	A,
		const Matrixd< 1, 1 > &	B
	)

◆ IsStabilizable< 2, 1 >()

template<>

WPILIB_DLLEXPORT bool frc::IsStabilizable< 2, 1 >	(	const Matrixd< 2, 2 > &	A,
		const Matrixd< 2, 1 > &	B
	)

◆ LoadAprilTagLayoutField()

WPILIB_DLLEXPORT AprilTagFieldLayout frc::LoadAprilTagLayoutField ( AprilTagField field )

Loads an AprilTagFieldLayout from a predefined field.

Parameters

field The predefined field

◆ MakeCostMatrix() [1/2]

template<size_t N>

Matrixd< 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>...>>>

Matrixd< sizeof...(Ts), sizeof...(Ts)> frc::MakeCostMatrix ( Ts... tolerances )

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 tolerance is placed on the cost matrix diagonal. If a tolerance is infinity, its cost matrix entry is set to zero.

Parameters

tolerances 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>

Matrixd< 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>...>>>

Matrixd< 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.

◆ MakeError()

template<typename... Args>

RuntimeError frc::MakeError	(	int32_t	status,
		const char *	fileName,
		int	lineNumber,
		const char *	funcName,
		fmt::string_view	format,
		Args &&...	args
	)

inline

◆ MakeErrorV()

RuntimeError frc::MakeErrorV	(	int32_t	status,
		const char *	fileName,
		int	lineNumber,
		const char *	funcName,
		fmt::string_view	format,
		fmt::format_args	args
	)

Makes a runtime error exception object.

This object should be thrown by the caller. Generally the FRC_MakeError wrapper macro should be used instead.

Parameters

[out]	status	error code
[in]	fileName	source file name
[in]	lineNumber	source line number
[in]	funcName	source function name
[in]	format	error message format
[in]	args	error message format args

Returns: runtime error object

◆ MakeWhiteNoiseVector() [1/2]

template<int N>

Vectord< N > 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.

◆ MakeWhiteNoiseVector() [2/2]

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

Matrixd< sizeof...(Ts), 1 > frc::MakeWhiteNoiseVector ( Ts... stdDevs )

◆ NumericalJacobian()

template<int Rows, int Cols, typename F >

auto frc::NumericalJacobian	(	F &&	f,
		const Vectord< Cols > &	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 Vectord< States > &	x,
		const Vectord< Inputs > &	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...	Types of remaining arguments to f(x, u, ...).

Parameters

f	Vector-valued function from which to compute Jacobian.
x	State vector.
u	Input vector.
args	Remaining arguments to f(x, u, ...).

◆ NumericalJacobianX()

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

auto frc::NumericalJacobianX	(	F &&	f,
		const Vectord< States > &	x,
		const Vectord< Inputs > &	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...	Types of remaining arguments to f(x, u, ...).

Parameters

f	Vector-valued function from which to compute Jacobian.
x	State vector.
u	Input vector.
args	Remaining arguments to f(x, u, ...).

◆ ObjectToRobotPose()

WPILIB_DLLEXPORT frc::Pose3d frc::ObjectToRobotPose	(	const frc::Pose3d &	objectInField,
		const frc::Transform3d &	cameraToObject,
		const frc::Transform3d &	robotToCamera
	)

Returns the robot's pose in the field coordinate system given an object's field-relative pose, the transformation from the camera's pose to the object's pose (obtained via computer vision), and the transformation from the robot's pose to the camera's pose.

The object could be a target or a fiducial marker.

Parameters

objectInField	An object's field-relative pose.
cameraToObject	The transformation from the camera's pose to the object's pose. This comes from computer vision.
robotToCamera	The transformation from the robot's pose to the camera's pose. This can either be a constant for a rigidly mounted camera, or variable if the camera is mounted to a turret. If the camera was mounted 3 inches in front of the "origin" (usually physical center) of the robot, this would be frc::Transform3d{3_in, 0_in, 0_in, frc::Rotation3d{}}.

Returns: The robot's field-relative pose.

◆ PoseTo3dVector()

WPILIB_DLLEXPORT Vectord< 3 > 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()

WPILIB_DLLEXPORT Vectord< 4 > 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()

WPILIB_DLLEXPORT Vectord< 3 > 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.

◆ ReportError()

template<typename... Args>

void frc::ReportError	(	int32_t	status,
		const char *	fileName,
		int	lineNumber,
		const char *	funcName,
		fmt::string_view	format,
		Args &&...	args
	)

inline

Reports an error to the driver station (using HAL_SendError).

Generally the FRC_ReportError wrapper macro should be used instead.

Parameters

[out]	status	error code
[in]	fileName	source file name
[in]	lineNumber	source line number
[in]	funcName	source function name
[in]	format	error message format
[in]	args	error message format args

◆ ReportErrorV()

void frc::ReportErrorV	(	int32_t	status,
		const char *	fileName,
		int	lineNumber,
		const char *	funcName,
		fmt::string_view	format,
		fmt::format_args	args
	)

Reports an error to the driver station (using HAL_SendError).

Generally the FRC_ReportError wrapper macro should be used instead.

Parameters

[out]	status	error code
[in]	fileName	source file name
[in]	lineNumber	source line number
[in]	funcName	source function name
[in]	format	error message format
[in]	args	error message format args

◆ 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.

◆ RKDP()

template<typename F , typename T , typename U >

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

Performs adaptive Dormand-Prince 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.
maxError	The maximum acceptable truncation error. Usually a small number like 1e-6.

◆ RunHALInitialization()

int frc::RunHALInitialization ( )

◆ 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.

◆ ShuffleboardEventImportanceName()

std::string_view frc::ShuffleboardEventImportanceName ( ShuffleboardEventImportance importance )

inline

◆ SquareRootUnscentedTransform()

template<int CovDim, int States>

std::tuple< Vectord< CovDim >, Matrixd< CovDim, CovDim > > frc::SquareRootUnscentedTransform	(	const Matrixd< CovDim, 2 *States+1 > &	sigmas,
		const Vectord< 2 *States+1 > &	Wm,
		const Vectord< 2 *States+1 > &	Wc,
		std::function< Vectord< CovDim >(const Matrixd< CovDim, 2 States+1 > &, const Vectord< 2 States+1 > &)>	meanFunc,
		std::function< Vectord< CovDim >(const Vectord< CovDim > &, const Vectord< CovDim > &)>	residualFunc,
		const Matrixd< CovDim, CovDim > &	squareRootR
	)

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

CovDim returns the mean and square-root covariance of the sigma points in a tuple.

This works in conjunction with the UnscentedKalmanFilter class. For use with square-root form UKFs.

Template Parameters

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

Parameters

sigmas	List of sigma points.
Wm	Weights for the mean.
Wc	Weights for the covariance.
meanFunc	A function that computes the mean of 2 * States + 1 state vectors using a given set of weights.
residualFunc	A function that computes the residual of two state vectors (i.e. it subtracts them.)
squareRootR	Square-root of the noise covaraince of the sigma points.

Returns: Tuple of x, mean of sigma points; S, square-root covariance of sigmas.

◆ StartRobot()

template<class Robot >

int frc::StartRobot ( )

◆ SwerveDriveKinematics()

template<class... Wheels>

frc::SwerveDriveKinematics	(	Translation2d	,
		Wheels...
	)		-> SwerveDriveKinematics< 1+sizeof...(Wheels)>

◆ to_json() [1/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const AprilTag &	apriltag
	)

◆ to_json() [2/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const AprilTagFieldLayout &	layout
	)

◆ to_json() [3/10]

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

◆ to_json() [4/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const Pose3d &	pose
	)

◆ to_json() [5/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const Quaternion &	quaternion
	)

◆ to_json() [6/10]

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

◆ to_json() [7/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const Rotation3d &	rotation
	)

◆ to_json() [8/10]

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

◆ to_json() [9/10]

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

◆ to_json() [10/10]

WPILIB_DLLEXPORT void frc::to_json	(	wpi::json &	json,
		const Translation3d &	state
	)

◆ Wait()

void frc::Wait ( units::second_t 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.

Variable Documentation

◆ Pose2d

class WPILIB_DLLEXPORT frc::Pose2d

◆ Pose3d

class WPILIB_DLLEXPORT frc::Pose3d

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ Matrixd

◆ Vectord

Enumeration Type Documentation

◆ AnalogTriggerType

◆ AprilTagField

◆ BuiltInLayouts

◆ BuiltInWidgets

◆ CompressorConfigType

◆ EdgeConfiguration

◆ PneumaticsModuleType

◆ RuntimeType

◆ ShuffleboardEventImportance

Function Documentation

◆ AngleAdd() [1/2]

◆ AngleAdd() [2/2]

◆ AngleMean() [1/2]

◆ AngleMean() [2/2]

◆ AngleModulus()

◆ AngleResidual() [1/2]

◆ AngleResidual() [2/2]

◆ ApplyDeadband()

◆ AprilTagDetect()

◆ ClampInputMaxMagnitude()

◆ DesaturateInputVector()

◆ DiscretizeA()

◆ DiscretizeAB()

◆ DiscretizeAQ()

◆ DiscretizeAQTaylor()

◆ DiscretizeR()

◆ EXPORT_TEMPLATE_DECLARE()

◆ from_json() [1/10]

◆ from_json() [2/10]

◆ from_json() [3/10]

◆ from_json() [4/10]

◆ from_json() [5/10]

◆ from_json() [6/10]

◆ from_json() [7/10]

◆ from_json() [8/10]

◆ from_json() [9/10]

◆ from_json() [10/10]

◆ GetCameraServerShared()

◆ GetCurrentThreadPriority()

◆ GetErrorMessage()

◆ GetThreadPriority()

◆ GetTime()

◆ InputModulus()

◆ IsDetectable()

◆ IsStabilizable()

◆ IsStabilizable< 1, 1 >()

◆ IsStabilizable< 2, 1 >()

◆ LoadAprilTagLayoutField()

◆ MakeCostMatrix() [1/2]

◆ MakeCostMatrix() [2/2]

◆ MakeCovMatrix() [1/2]

◆ MakeCovMatrix() [2/2]

◆ MakeError()

◆ MakeErrorV()

◆ MakeWhiteNoiseVector() [1/2]

◆ MakeWhiteNoiseVector() [2/2]

◆ NumericalJacobian()

◆ NumericalJacobianU()

◆ NumericalJacobianX()

◆ ObjectToRobotPose()

◆ PoseTo3dVector()

◆ PoseTo4dVector()

◆ PoseToVector()

◆ ReportError()

◆ ReportErrorV()

◆ RK4() [1/2]

◆ RK4() [2/2]

◆ RKDP()

◆ RunHALInitialization()

◆ SetCurrentThreadPriority()