MechanismRoot2d.hpp

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <memory>
#include <string_view>
 
#include "wpi/nt/DoubleTopic.hpp"
#include "wpi/smartdashboard/MechanismObject2d.hpp"
 
namespace wpi {
 
/**
 * Root Mechanism2d node.
 *
 * A root is the anchor point of other nodes (such as ligaments).
 *
 * Do not create objects of this class directly! Obtain pointers from the
 * Mechanism2d.GetRoot() factory method.
 *
 * <p>Append other nodes by using Append().
 */
class MechanismRoot2d : private MechanismObject2d {
  friend class Mechanism2d;
  struct private_init {};
 
 public:
  MechanismRoot2d(std::string_view name, double x, double y,
                  const private_init&);
 
  /**
   * Set the root's position.
   *
   * @param x new x coordinate
   * @param y new y coordinate
   */
  void SetPosition(double x, double y);
 
  using MechanismObject2d::GetName;
 
  using MechanismObject2d::Append;
 
 private:
  void UpdateEntries(std::shared_ptr<wpi::nt::NetworkTable> table) override;
  inline void Flush();
  double m_x;
  double m_y;
  wpi::nt::DoublePublisher m_xPub;
  wpi::nt::DoublePublisher m_yPub;
};
}  // namespace wpi