Class DifferentialDriveWheelAccelerations

java.lang.Object
org.wpilib.math.kinematics.DifferentialDriveWheelAccelerations
All Implemented Interfaces:
Interpolatable<DifferentialDriveWheelAccelerations>, ProtobufSerializable, StructSerializable, WPISerializable
public class DifferentialDriveWheelAccelerations extends Object implements Interpolatable<DifferentialDriveWheelAccelerations>, ProtobufSerializable, StructSerializable
Represents the wheel accelerations for a differential drive drivetrain.

  • Field Details

  • Constructor Details

    • DifferentialDriveWheelAccelerations

      public DifferentialDriveWheelAccelerations()
      Constructs a DifferentialDriveWheelAccelerations with zeros for left and right accelerations.

    • DifferentialDriveWheelAccelerations

      public DifferentialDriveWheelAccelerations(double left, double right)
      Constructs a DifferentialDriveWheelAccelerations.
      Parameters:
      left - The left acceleration in meters per second squared.
      right - The right acceleration in meters per second squared.

    • DifferentialDriveWheelAccelerations

      public DifferentialDriveWheelAccelerations(LinearAcceleration left, LinearAcceleration right)
      Constructs a DifferentialDriveWheelAccelerations.
      Parameters:
      left - The left acceleration in meters per second squared.
      right - The right acceleration in meters per second squared.

  • Method Details

    • plus

      public DifferentialDriveWheelAccelerations plus(DifferentialDriveWheelAccelerations other)
      Adds two DifferentialDriveWheelAccelerations and returns the sum.

      For example, DifferentialDriveWheelAccelerations{1.0, 0.5} + DifferentialDriveWheelAccelerations{2.0, 1.5} = DifferentialDriveWheelAccelerations{3.0, 2.0}

      Parameters:
      other - The DifferentialDriveWheelAccelerations to add.
      Returns:
      The sum of the DifferentialDriveWheelAccelerations.

    • minus

      public DifferentialDriveWheelAccelerations minus(DifferentialDriveWheelAccelerations other)
      Subtracts the other DifferentialDriveWheelAccelerations from the current DifferentialDriveWheelAccelerations and returns the difference.

      For example, DifferentialDriveWheelAccelerations{5.0, 4.0} - DifferentialDriveWheelAccelerations{1.0, 2.0} = DifferentialDriveWheelAccelerations{4.0, 2.0}

      Parameters:
      other - The DifferentialDriveWheelAccelerations to subtract.
      Returns:
      The difference between the two DifferentialDriveWheelAccelerations.

    • unaryMinus

      public DifferentialDriveWheelAccelerations unaryMinus()
      Returns the inverse of the current DifferentialDriveWheelAccelerations. This is equivalent to negating all components of the DifferentialDriveWheelAccelerations.
      Returns:
      The inverse of the current DifferentialDriveWheelAccelerations.

    • times

      public DifferentialDriveWheelAccelerations times(double scalar)
      Multiplies the DifferentialDriveWheelAccelerations by a scalar and returns the new DifferentialDriveWheelAccelerations.

      For example, DifferentialDriveWheelAccelerations{2.0, 2.5} * 2 = DifferentialDriveWheelAccelerations{4.0, 5.0}

      Parameters:
      scalar - The scalar to multiply by.
      Returns:
      The scaled DifferentialDriveWheelAccelerations.

    • div

      public DifferentialDriveWheelAccelerations div(double scalar)
      Divides the DifferentialDriveWheelAccelerations by a scalar and returns the new DifferentialDriveWheelAccelerations.

      For example, DifferentialDriveWheelAccelerations{2.0, 2.5} / 2 = DifferentialDriveWheelAccelerations{1.0, 1.25}

      Parameters:
      scalar - The scalar to divide by.
      Returns:
      The scaled DifferentialDriveWheelAccelerations.

    • interpolate

      public DifferentialDriveWheelAccelerations interpolate(DifferentialDriveWheelAccelerations endValue, double t)
      Returns the linear interpolation of this DifferentialDriveWheelAccelerations and another.
      Specified by:
      interpolate in interface Interpolatable<DifferentialDriveWheelAccelerations>
      Parameters:
      endValue - The end value for the interpolation.
      t - How far between the two values to interpolate. This is clamped to [0, 1].
      Returns:
      The interpolated value.

    • toString

      public String toString()
      Overrides:
      toString in class Object