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>

Field Summary

Fields

Modifier and Type	Field	Description
double	leftMeters	Distance measured by the left side.
double	rightMeters	Distance measured by the right side.

Constructor Summary

Constructors

Constructor	Description
DifferentialDriveWheelPositions(double leftMeters, double rightMeters)	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.
DifferentialDriveWheelPositions	minus(DifferentialDriveWheelPositions other)	Returns the difference with another set of wheel positions.
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.

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.

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.

minus

public DifferentialDriveWheelPositions minus(DifferentialDriveWheelPositions other)

Description copied from interface: WheelPositions

Returns the difference with another set of wheel positions.

Specified by:

minus in interface WheelPositions<DifferentialDriveWheelPositions>

Parameters:

other - The other instance to compare to.

Returns:

The representation of how the wheels moved from other to this.

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.