Package edu.wpi.first.math.kinematics

Class MecanumDriveWheelPositions

java.lang.Object

edu.wpi.first.math.kinematics.MecanumDriveWheelPositions

All Implemented Interfaces:

Interpolatable<MecanumDriveWheelPositions>, ProtobufSerializable, StructSerializable, WPISerializable

public class MecanumDriveWheelPositions
extends Object
implements Interpolatable<MecanumDriveWheelPositions>, ProtobufSerializable, StructSerializable

Represents the wheel positions for a mecanum drive drivetrain.

Field Summary

Fields

Modifier and Type	Field	Description
double	frontLeft	Distance measured by the front left wheel in meters.
double	frontRight	Distance measured by the front right wheel in meters.
static final MecanumDriveWheelPositionsProto	proto	MecanumDriveWheelPositions protobuf for serialization.
double	rearLeft	Distance measured by the rear left wheel in meters.
double	rearRight	Distance measured by the rear right wheel in meters.
static final MecanumDriveWheelPositionsStruct	struct	MecanumDriveWheelPositions struct for serialization.

Constructor Summary

Constructors

Constructor	Description
MecanumDriveWheelPositions()	Constructs a MecanumDriveWheelPositions with zeros for all member fields.
MecanumDriveWheelPositions(double frontLeft, double frontRight, double rearLeft, double rearRight)	Constructs a MecanumDriveWheelPositions.
MecanumDriveWheelPositions(Distance frontLeft, Distance frontRight, Distance rearLeft, Distance rearRight)	Constructs a MecanumDriveWheelPositions.

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object obj)
int	hashCode()
MecanumDriveWheelPositions	interpolate(MecanumDriveWheelPositions endValue, double t)	Return the interpolated value.
String	toString()

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Details

frontLeft

public double frontLeft

Distance measured by the front left wheel in meters.

frontRight

public double frontRight

Distance measured by the front right wheel in meters.

rearLeft

public double rearLeft

Distance measured by the rear left wheel in meters.

rearRight

public double rearRight

Distance measured by the rear right wheel in meters.

proto

public static final MecanumDriveWheelPositionsProto proto

MecanumDriveWheelPositions protobuf for serialization.

struct

public static final MecanumDriveWheelPositionsStruct struct

MecanumDriveWheelPositions struct for serialization.

Constructor Details

MecanumDriveWheelPositions

public MecanumDriveWheelPositions()

Constructs a MecanumDriveWheelPositions with zeros for all member fields.

MecanumDriveWheelPositions

public MecanumDriveWheelPositions(double frontLeft,
 double frontRight,
 double rearLeft,
 double rearRight)

Constructs a MecanumDriveWheelPositions.

Parameters:

frontLeft - Distance measured by the front left wheel in meters.

frontRight - Distance measured by the front right wheel in meters.

rearLeft - Distance measured by the rear left wheel in meters.

rearRight - Distance measured by the rear right wheel in meters.

MecanumDriveWheelPositions

public MecanumDriveWheelPositions(Distance frontLeft,
 Distance frontRight,
 Distance rearLeft,
 Distance rearRight)

Constructs a MecanumDriveWheelPositions.

Parameters:

frontLeft - Distance measured by the front left wheel in meters.

frontRight - Distance measured by the front right wheel in meters.

rearLeft - Distance measured by the rear left wheel in meters.

rearRight - Distance measured by the rear right wheel in meters.

Method Details

equals

public boolean equals(Object obj)

Overrides:

equals in class Object

hashCode

public int hashCode()

Overrides:

hashCode in class Object

toString

public String toString()

Overrides:

toString in class Object

interpolate

public MecanumDriveWheelPositions interpolate(MecanumDriveWheelPositions endValue,
 double t)

Description copied from interface: Interpolatable

Return the interpolated value. This object is assumed to be the starting position, or lower bound.

Specified by:

interpolate in interface Interpolatable<MecanumDriveWheelPositions>

Parameters:

endValue - The upper bound, or end.

t - How far between the lower and upper bound we are. This should be bounded in [0, 1].

Returns:

The interpolated value.