util.hpp File Reference

Shared types, enums, math helpers, and unit conversions used across LightLib. More...

#include <algorithm>
#include <atomic>
#include <cmath>
#include <cstdint>
#include <cstdio>
#include <cstring>
#include <functional>
#include <iomanip>
#include <iostream>
#include <memory>
#include <sstream>
#include <string>
#include <vector>
#include "LightLib/api.h"
#include "light/units.hpp"

Go to the source code of this file.

Classes
struct	light::pose
	2D pose: position (in) and heading (deg). More...
struct	light::united_pose
	2D pose with okapi units. More...
struct	light::odom
	One waypoint of an odom-mode movement. More...
struct	light::united_odom
	One waypoint of an odom-mode movement, with okapi units. More...

Namespaces
namespace	light
	Public LightLib odometry / pose-estimation API.
namespace	light::units
	Single source of truth for unit conversions.
namespace	light::util
	Misc math, geometry, and unit-conversion helpers.

Functions
void	light::ez_template_print ()
	Prints our branding all over your pros terminal.
void	light::screen_print (std::string text, int line=0)
	Prints to the brain screen in one string.
std::string	light::exit_to_string (exit_output input)
	Returns a human-readable name for an exit_output code.
int	light::util::places_after_decimal (double input, int min=0)
	Returns the amount of places after a decimal, maxing out at 6.
std::string	light::util::to_string_with_precision (double input, int n=2)
	Returns a string with a specific number of decimal points.
int	light::util::sgn (double input)
	Returns 1 if input is positive and -1 if input is negative.
bool	light::util::reversed_active (double input)
	Returns true if the input is < 0.
double	light::util::clamp (double input, double max, double min)
	Returns input restricted to min-max threshold.
double	light::util::clamp (double input, double max)
	Returns input restricted to min-max threshold.
double	light::util::to_deg (double input)
	Converts radians to degrees.
double	light::util::to_rad (double input)
	Converts degrees to radians.
double	light::util::absolute_angle_to_point (pose itarget, pose icurrent)
	Returns the angle between two points.
double	light::util::distance_to_point (pose itarget, pose icurrent)
	Returns the distance between two points.
double	light::util::wrap_angle (double theta)
	Constrains an angle between 180 and -180.
float	light::util::wrap_rad (float a)
	Wraps an angle in radians to the half-open interval (-pi, pi].
pose	light::util::vector_off_point (double added, pose icurrent)
	Returns a new pose that is projected off of the current pose.
double	light::util::turn_shortest (double target, double current, bool print=false)
	Returns the shortest angle for the robot to turn to in order to get to target.
double	light::util::turn_longest (double target, double current, bool print=false)
	Returns the farthest away angle for the robot to turn to in order to get to target.
pose	light::util::united_pose_to_pose (united_pose input)
	Converts pose with okapi units to a pose without okapi units.
std::vector< odom >	light::util::united_odoms_to_odoms (std::vector< united_odom > inputs)
	Converts vector of poses with okapi units to a vector of poses without okapi units.
odom	light::util::united_odom_to_odom (united_odom input)
	Converts odom movement with united pose to an odom movement without united pose.

Variables
pros::Controller	master
	Global V5 master controller, used by opcontrol throughout LightLib.
constexpr double	light::units::MM_PER_IN = 25.4
	Millimeters per inch.
constexpr double	light::units::IN_PER_MM = 1.0 / 25.4
	Inches per millimeter.
constexpr double	light::units::M_PER_IN = 0.0254
	Meters per inch.
constexpr double	light::units::IN_PER_M = 1.0 / 0.0254
	Inches per meter.
constexpr double	light::units::DEG_PER_RAD = 180.0 / M_PI
	Degrees per radian.
constexpr double	light::units::RAD_PER_DEG = M_PI / 180.0
	Radians per degree.
bool	light::util::AUTON_RAN
	Set true once any autonomous routine has run this match.
const bool	light::util::SD_CARD_ACTIVE = pros::usd::is_installed()
	True if an SD card is currently inserted.
const int	light::util::DELAY_TIME = 10
	Default loop period for LightLib background tasks, in milliseconds.

Public types and enums
enum	light::e_type { light::SINGLE = 0 , light::SPLIT = 1 }
	Arcade joystick layout. More...
enum	light::e_swing { light::LEFT_SWING = 0 , light::RIGHT_SWING = 1 }
	Direction for swing-turn motions. More...
enum	light::exit_output {   light::RUNNING = 1 , light::SMALL_EXIT = 2 , light::BIG_EXIT = 3 , light::VELOCITY_EXIT = 4 ,   light::mA_EXIT = 5 , light::ERROR_NO_CONSTANTS = 6 }
	Result codes returned by PID::exit_condition. More...
enum	light::e_mode {   light::DISABLE = 0 , light::SWING = 1 , light::TURN = 2 , light::TURN_TO_POINT = 3 ,   light::DRIVE = 4 , light::POINT_TO_POINT = 5 , light::PURE_PURSUIT = 6 }
	Active chassis motion mode. More...
enum	light::drive_directions {   light::FWD = 0 , light::FORWARD = FWD , light::fwd = FWD , light::forward = FWD ,   light::REV = 1 , light::REVERSE = REV , light::rev = REV , light::reverse = REV }
	Drive direction with multiple spelling aliases. More...
enum	light::e_angle_behavior {   light::raw = 0 , light::left_turn = 1 , light::LEFT_TURN = 1 , light::counterclockwise = 1 ,   light::ccw = 1 , light::right_turn = 2 , light::RIGHT_TURN = 2 , light::clockwise = 2 ,   light::cw = 2 , light::shortest = 3 , light::longest = 4 }
	How to choose a turn direction when reaching an absolute heading. More...
typedef struct light::pose	light::pose
	2D pose: position (in) and heading (deg).
typedef struct light::united_pose	light::united_pose
	2D pose with okapi units.
typedef struct light::odom	light::odom
	One waypoint of an odom-mode movement.
typedef struct light::united_odom	light::united_odom
	One waypoint of an odom-mode movement, with okapi units.
const double	light::ANGLE_NOT_SET = 0.0000000000000000000001
	Sentinel value indicating "no angle specified".
const okapi::QAngle	light::p_ANGLE_NOT_SET = 0.0000000000000000000001_deg
	Sentinel value indicating "no angle specified" (united).

Detailed Description

Shared types, enums, math helpers, and unit conversions used across LightLib.

Pulled into nearly every other header.

Definition in file util.hpp.

Variable Documentation

master

pros::Controller master

extern

Global V5 master controller, used by opcontrol throughout LightLib.