Package edu.wpi.first.units

Class MomentOfInertiaUnit

java.lang.Object
edu.wpi.first.units.Unit
edu.wpi.first.units.PerUnit<AngularMomentumUnit,AngularVelocityUnit>
edu.wpi.first.units.MomentOfInertiaUnit
public final class MomentOfInertiaUnit extends PerUnit<AngularMomentumUnit,AngularVelocityUnit>
A unit of moment of inertia, like Units.KilogramSquareMeters. Moments of inertia describe how much an object resists being rotated, analogous to mass's resistance to being accelerated along a line.

  • Method Details

    • combine

      public static MomentOfInertiaUnit combine(AngularMomentumUnit momentumUnit, AngularVelocityUnit velocityUnit)
      Combines an angular momentum and angular velocity unit to form a moment of inertia unit.
      Parameters:
      momentumUnit - the unit of angular momentum
      velocityUnit - the unit of angular velocity
      Returns:
      the combined moment of inertia unit

    • getBaseUnit

      public MomentOfInertiaUnit getBaseUnit()
      Description copied from class: Unit
      Gets the base unit of measurement that this unit is derived from. If the unit is the base unit, the unit will be returned.

      NOTE: Subclasses must override this method to provide the correct return type. Failing to do say will make unit combinations that use it break at runtime! 

      
   Unit baseUnit = new Unit(null, ...);
   baseUnit.getBaseUnit(); // returns baseUnit

   Unit derivedUnit = new Unit(baseUnit, ...);
   derivedUnit.getBaseUnit(); // returns baseUnit
      Overrides:
      getBaseUnit in class PerUnit<AngularMomentumUnit,AngularVelocityUnit>
      Returns:
      the base unit

    • of

      public MomentOfInertia of(double magnitude)
      Description copied from class: PerUnit
      Creates a new immutable measurement of the given magnitude in terms of this unit. Implementations are strongly recommended to sharpen the return type to a unit-specific measurement implementation.

      Note: When called on an object of type PerUnit (and not a subclass!), this method will always return a Per instance. If you want to avoid casting, use PerUnit.ofNative(double) that returns a Per instance directly.

      Overrides:
      of in class PerUnit<AngularMomentumUnit,AngularVelocityUnit>
      Parameters:
      magnitude - the magnitude of the measure
      Returns:
      the ratio measure

    • ofBaseUnits

      public MomentOfInertia ofBaseUnits(double baseUnitMagnitude)
      Description copied from class: PerUnit
      Creates a new immutable measurement of the given magnitude in terms of this unit's base unit. Implementations are strongly recommended to sharpen the return type to a unit-specific measurement implementation.

      Note: When called on an object of type PerUnit (and not a subclass!), this method will always return a Per instance. If you want to avoid casting, use PerUnit.ofNativeBaseUnits(double) that returns a Per instance directly.

      Overrides:
      ofBaseUnits in class PerUnit<AngularMomentumUnit,AngularVelocityUnit>
      Parameters:
      baseUnitMagnitude - the magnitude of the measure in terms of its base units.
      Returns:
      the ratio measure

    • zero

      public MomentOfInertia zero()
      Description copied from class: Unit
      Gets a measure of zero magnitude in terms of this unit. The returned object is guaranteed to be of the same type returned by Unit.of(double). Subclasses are encouraged to override this method to sharpen the return type.
      Overrides:
      zero in class PerUnit<AngularMomentumUnit,AngularVelocityUnit>
      Returns:
      a zero-magnitude measure of this unit

    • one

      public MomentOfInertia one()
      Description copied from class: Unit
      Gets a measure with a magnitude of 1.0 in terms of this unit. The returned object is guaranteed to be of the same type returned by Unit.of(double). Subclasses are encouraged to override this method to sharpen the return type.
      Overrides:
      one in class PerUnit<AngularMomentumUnit,AngularVelocityUnit>
      Returns:
      a measure of magnitude 1.0 in terms of this unit

    • mutable

      public MutMomentOfInertia mutable(double initialMagnitude)
      Description copied from class: PerUnit
      Creates a new mutable measurement that is initialized to the given magnitude in terms of this unit. Implementations are strongly recommended to sharpen the return type to a unit-specific measurement implementation.

      Note: When called on an object of type PerUnit (and not a subclass!), this method will always return a MutPer instance.

      Overrides:
      mutable in class PerUnit<AngularMomentumUnit,AngularVelocityUnit>
      Parameters:
      initialMagnitude - the starting magnitude of the measure
      Returns:
      the ratio measure

    • per

      public VelocityUnit<MomentOfInertiaUnit> per(TimeUnit time)
      Description copied from class: Unit
      Combines this unit with a unit of time. This often - but not always - results in a velocity. Subclasses should sharpen the return type to be unit-specific.
      Overrides:
      per in class PerUnit<AngularMomentumUnit,AngularVelocityUnit>
      Parameters:
      time - the unit of time
      Returns:
      the combined unit

    • per

      public <U extends Unit> PerUnit<MomentOfInertiaUnit,U> per(U other)
      Creates a ratio unit between this unit and an arbitrary other unit.
      Type Parameters:
      U - the type of the other unit
      Parameters:
      other - the other unit
      Returns:
      the ratio unit

    • convertFrom

      public double convertFrom(double magnitude, MomentOfInertiaUnit otherUnit)
      Converts a measurement value in terms of another unit to this unit.
      Parameters:
      magnitude - the magnitude of the measurement in terms of the other unit
      otherUnit - the other unit
      Returns:
      the value of the measurement in terms of this unit