Package edu.wpi.first.math.kinematics

Class SwerveDriveWheelPositions

java.lang.Object

edu.wpi.first.math.kinematics.SwerveDriveWheelPositions

All Implemented Interfaces:

Interpolatable<SwerveDriveWheelPositions>, WheelPositions<SwerveDriveWheelPositions>

public class SwerveDriveWheelPositions
extends Object
implements WheelPositions<SwerveDriveWheelPositions>

Represents the wheel positions for a swerve drive drivetrain.

Field Summary

Fields

Modifier and Type	Field	Description
SwerveModulePosition[]	positions	The distances driven by the wheels.

Constructor Summary

Constructors

Constructor	Description
SwerveDriveWheelPositions(SwerveModulePosition[] positions)	Creates a new SwerveDriveWheelPositions instance.

Method Summary

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

positions

public SwerveModulePosition[] positions

The distances driven by the wheels.

Constructor Details

SwerveDriveWheelPositions

public SwerveDriveWheelPositions(SwerveModulePosition[] positions)

Creates a new SwerveDriveWheelPositions instance.

Parameters:

positions - The swerve module positions. This will be deeply copied.

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 SwerveDriveWheelPositions copy()

Description copied from interface: WheelPositions

Returns a copy of this instance.

Specified by:

copy in interface WheelPositions<SwerveDriveWheelPositions>

Returns:

A copy.

interpolate

public SwerveDriveWheelPositions interpolate(SwerveDriveWheelPositions 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<SwerveDriveWheelPositions>

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.