DifferentialDriveWheelPositions.h

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <wpi/MathExtras.h>
#include <wpi/SymbolExports.h>
 
#include "units/length.h"
 
namespace frc {
/**
 * Represents the wheel positions for a differential drive drivetrain.
 */
struct WPILIB_DLLEXPORT DifferentialDriveWheelPositions {
  /**
   * Distance driven by the left side.
   */
  units::meter_t left = 0_m;
 
  /**
   * Distance driven by the right side.
   */
  units::meter_t right = 0_m;
 
  /**
   * Checks equality between this DifferentialDriveWheelPositions and another
   * object.
   *
   * @param other The other object.
   * @return Whether the two objects are equal.
   */
  bool operator==(const DifferentialDriveWheelPositions& other) const = default;
 
  /**
   * Checks inequality between this DifferentialDriveWheelPositions and another
   * object.
   *
   * @param other The other object.
   * @return Whether the two objects are not equal.
   */
  bool operator!=(const DifferentialDriveWheelPositions& other) const = default;
 
  DifferentialDriveWheelPositions operator-(
      const DifferentialDriveWheelPositions& other) const {
    return {left - other.left, right - other.right};
  }
 
  DifferentialDriveWheelPositions Interpolate(
      const DifferentialDriveWheelPositions& endValue, double t) const {
    return {wpi::Lerp(left, endValue.left, t),
            wpi::Lerp(right, endValue.right, t)};
  }
};
}  // namespace frc