Interface Interpolatable<T>

Type Parameters:
T - The class that is interpolatable.
All Known Implementing Classes:
ChassisAccelerations, ChassisVelocities, DifferentialDriveWheelAccelerations, DifferentialDriveWheelPositions, DifferentialDriveWheelVelocities, MecanumDriveWheelAccelerations, MecanumDriveWheelPositions, MecanumDriveWheelVelocities, Pose2d, Pose3d, Rotation2d, Rotation3d, SwerveModuleAcceleration, SwerveModulePosition, SwerveModuleVelocity, Translation2d, Translation3d
public interface Interpolatable<T>
An object should extend interpolatable if you wish to interpolate between a lower and upper bound, such as a robot position on the field between timesteps. This behavior can be linear or nonlinear.

  • Method Summary

    Modifier and Type
    Method
    Description
    T
    interpolate(T endValue, double t)
    Return the interpolated value.

  • Method Details

    • interpolate

      T interpolate(T endValue, double t)
      Return the interpolated value. This object is assumed to be the starting position, or lower bound.
      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.