Struct AbstractKinematicState

• Defined in File ballistics.hpp

Inheritance Relationships

Derived Type

• public tap::algorithms::ballistics::SecondOrderKinematicState (Struct SecondOrderKinematicState)

Struct Documentation

struct AbstractKinematicState

Stores the 3D position, velocity, and acceleration of an object as modm::Vector3fs.

• Position Units: m

• Velocity Units: m/s

• Acceleration Units: m/s^2

Subclassed by tap::algorithms::ballistics::SecondOrderKinematicState

Public Functions

virtual modm::Vector3f projectForward(float dt) const = 0

Public Static Functions

static inline float quadraticKinematicProjection(float dt, float s, float v, float a)

Parameters:

• dt – [in] The amount of time to project forward.

• s – [in] The position of the object.

• v – [in] The velocity of the object.

• a – [in] The acceleration of the object.

Returns:

The future position of an object using a quadratic (constant acceleration) model.