Package edu.wpi.first.math.kinematics

Class MecanumDriveWheelPositions

java.lang.Object

edu.wpi.first.math.kinematics.MecanumDriveWheelPositions

All Implemented Interfaces:

Interpolatable<MecanumDriveWheelPositions>, WheelPositions<MecanumDriveWheelPositions>, ProtobufSerializable, StructSerializable, WPISerializable

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

Represents the wheel positions for a mecanum drive drivetrain.

Field Summary

Fields

Modifier and Type	Field	Description
double	frontLeftMeters	Distance measured by the front left wheel.
double	frontRightMeters	Distance measured by the front right wheel.
static MecanumDriveWheelPositionsProto	proto	MecanumDriveWheelPositions protobuf for serialization.
double	rearLeftMeters	Distance measured by the rear left wheel.
double	rearRightMeters	Distance measured by the rear right wheel.
static MecanumDriveWheelPositionsStruct	struct	MecanumDriveWheelPositions struct for serialization.

Constructor Summary

Constructors

Constructor	Description
MecanumDriveWheelPositions()	Constructs a MecanumDriveWheelPositions with zeros for all member fields.
MecanumDriveWheelPositions(double frontLeftMeters, double frontRightMeters, double rearLeftMeters, double rearRightMeters)	Constructs a MecanumDriveWheelPositions.
MecanumDriveWheelPositions(Measure<Distance> frontLeft, Measure<Distance> frontRight, Measure<Distance> rearLeft, Measure<Distance> rearRight)	Constructs a MecanumDriveWheelPositions.

Method Summary

Modifier and Type	Method	Description
MecanumDriveWheelPositions	copy()	Returns a copy of this instance.
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

frontLeftMeters

public double frontLeftMeters

Distance measured by the front left wheel.

frontRightMeters

public double frontRightMeters

Distance measured by the front right wheel.

rearLeftMeters

public double rearLeftMeters

Distance measured by the rear left wheel.

rearRightMeters

public double rearRightMeters

Distance measured by the rear right wheel.

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 frontLeftMeters, double frontRightMeters, double rearLeftMeters, double rearRightMeters)

Constructs a MecanumDriveWheelPositions.

Parameters:

frontLeftMeters - Distance measured by the front left wheel.

frontRightMeters - Distance measured by the front right wheel.

rearLeftMeters - Distance measured by the rear left wheel.

rearRightMeters - Distance measured by the rear right wheel.

MecanumDriveWheelPositions

public MecanumDriveWheelPositions(Measure<Distance> frontLeft, Measure<Distance> frontRight, Measure<Distance> rearLeft, Measure<Distance> rearRight)

Constructs a MecanumDriveWheelPositions.

Parameters:

frontLeft - Distance measured by the front left wheel.

frontRight - Distance measured by the front right wheel.

rearLeft - Distance measured by the rear left wheel.

rearRight - Distance measured by the rear right wheel.

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 MecanumDriveWheelPositions copy()

Description copied from interface: WheelPositions

Returns a copy of this instance.

Specified by:

copy in interface WheelPositions<MecanumDriveWheelPositions>

Returns:

A copy.

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.