Package edu.wpi.first.math.kinematics

Class DifferentialDriveWheelPositions

java.lang.Object

edu.wpi.first.math.kinematics.DifferentialDriveWheelPositions

All Implemented Interfaces:

Interpolatable<DifferentialDriveWheelPositions>, WheelPositions<DifferentialDriveWheelPositions>

public class DifferentialDriveWheelPositions
extends Object
implements WheelPositions<DifferentialDriveWheelPositions>

Represents the wheel positions for a differential drive drivetrain.

Field Summary

Fields

Modifier and Type	Field	Description
double	leftMeters	Distance measured by the left side.
static DifferentialDriveWheelPositionsProto	proto	DifferentialDriveWheelPostions struct for serialization.
double	rightMeters	Distance measured by the right side.
static DifferentialDriveWheelPositionsStruct	struct	DifferentialDriveWheelPostions struct for serialization.

Constructor Summary

Constructors

Constructor	Description
DifferentialDriveWheelPositions(double leftMeters, double rightMeters)	Constructs a DifferentialDriveWheelPositions.
DifferentialDriveWheelPositions(Measure<Distance> left, Measure<Distance> right)	Constructs a DifferentialDriveWheelPositions.

Method Summary

Modifier and Type	Method	Description
DifferentialDriveWheelPositions	copy()	Returns a copy of this instance.
boolean	equals(Object obj)
int	hashCode()
DifferentialDriveWheelPositions	interpolate(DifferentialDriveWheelPositions 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

leftMeters

public double leftMeters

Distance measured by the left side.

rightMeters

public double rightMeters

Distance measured by the right side.

struct

public static final DifferentialDriveWheelPositionsStruct struct

DifferentialDriveWheelPostions struct for serialization.

proto

public static final DifferentialDriveWheelPositionsProto proto

DifferentialDriveWheelPostions struct for serialization.

Constructor Details

DifferentialDriveWheelPositions

public DifferentialDriveWheelPositions(double leftMeters, double rightMeters)

Constructs a DifferentialDriveWheelPositions.

Parameters:

leftMeters - Distance measured by the left side.

rightMeters - Distance measured by the right side.

DifferentialDriveWheelPositions

public DifferentialDriveWheelPositions(Measure<Distance> left, Measure<Distance> right)

Constructs a DifferentialDriveWheelPositions.

Parameters:

left - Distance measured by the left side.

right - Distance measured by the right side.

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

copy

public DifferentialDriveWheelPositions copy()

Description copied from interface: WheelPositions

Returns a copy of this instance.

Specified by:

copy in interface WheelPositions<DifferentialDriveWheelPositions>

Returns:

A copy.

interpolate

public DifferentialDriveWheelPositions interpolate(DifferentialDriveWheelPositions 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<DifferentialDriveWheelPositions>

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.