ChassisAccelerations

Represents the acceleration of a robot chassis in its local (body) frame.

ChassisAccelerations vs PoseAcceleration2d

ChassisAccelerations represents accelerations in the robot's local frame (body frame):

• The x-axis points forward from the robot

• The y-axis points left from the robot

• Linear accelerations are relative to the robot's orientation

• Useful for motor control and dynamic modeling

PoseAcceleration2d represents accelerations in the global (field) frame:

• The x and y axes are fixed to the field

• Linear accelerations are relative to the field coordinate system

• Useful for trajectory generation and feedforward control

Frame Considerations

When a robot rotates, the relationship between chassis and field accelerations is more complex than for velocities due to centripetal effects. The transformation includes:

• Rotation of the acceleration vector

• Centripetal acceleration terms from the rotating frame

Kinematic Integration

Given an initial velocity \(\mathbf{v}_0\) and a time step \(\Delta t\), the new velocity is: \(\mathbf{v}(t + \Delta t) = \mathbf{v}_0 + \mathbf{a} \cdot \Delta t\)

Example Usage

// Robot accelerating forward at 5 in/s², with angular acceleration 0.1 rad/s²
val chassisAcc = ChassisAccelerations(
    linearAcc = Vector2d(5.0.inchesPerSecondSquared, 0.0.inchesPerSecondSquared),
    angAcc = 0.1.radiansPerSecondSquared
)

// Integrate to get velocity after 0.1 seconds
val newVel = chassisAcc.integrateToVel(0.1.seconds, currentVel)