Package edu.wpi.first.math.kinematics

Class SwerveModulePosition

java.lang.Object

edu.wpi.first.math.kinematics.SwerveModulePosition

All Implemented Interfaces:

Interpolatable<SwerveModulePosition>, Comparable<SwerveModulePosition>

public class SwerveModulePosition
extends Object
implements Comparable<SwerveModulePosition>, Interpolatable<SwerveModulePosition>

Represents the state of one swerve module.

Field Summary

Fields

Modifier and Type	Field	Description
Rotation2d	angle	Angle of the module.
double	distanceMeters	Distance measured by the wheel of the module.

Constructor Summary

Constructors

Constructor	Description
SwerveModulePosition()	Constructs a SwerveModulePosition with zeros for distance and angle.
SwerveModulePosition(double distanceMeters, Rotation2d angle)	Constructs a SwerveModulePosition.

Method Summary

Modifier and Type	Method	Description
int	compareTo(SwerveModulePosition other)	Compares two swerve module positions.
SwerveModulePosition	copy()	Returns a copy of this swerve module position.
boolean	equals(Object obj)
int	hashCode()
SwerveModulePosition	interpolate(SwerveModulePosition endValue, double t)	Return the interpolated value.
SwerveModulePosition	minus(SwerveModulePosition other)	Calculates the difference between two swerve module positions.
String	toString()

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Details

distanceMeters

public double distanceMeters

Distance measured by the wheel of the module.

angle

public Rotation2d angle

Angle of the module.

Constructor Details

SwerveModulePosition

public SwerveModulePosition()

Constructs a SwerveModulePosition with zeros for distance and angle.

SwerveModulePosition

public SwerveModulePosition(double distanceMeters, Rotation2d angle)

Constructs a SwerveModulePosition.

Parameters:

distanceMeters - The distance measured by the wheel of the module.

angle - The angle of the module.

Method Details

equals

public boolean equals(Object obj)

Overrides:

equals in class Object

hashCode

public int hashCode()

Overrides:

hashCode in class Object

compareTo

public int compareTo(SwerveModulePosition other)

Compares two swerve module positions. One swerve module is "greater" than the other if its distance is higher than the other.

Specified by:

compareTo in interface Comparable<SwerveModulePosition>

Parameters:

other - The other swerve module.

Returns:

1 if this is greater, 0 if both are equal, -1 if other is greater.

toString

public String toString()

Overrides:

toString in class Object

copy

public SwerveModulePosition copy()

Returns a copy of this swerve module position.

Returns:

A copy.

minus

public SwerveModulePosition minus(SwerveModulePosition other)

Calculates the difference between two swerve module positions. The difference has a length equal to the difference in lengths and an angle equal to the ending angle (this module position's angle).

Parameters:

other - The swerve module position to subtract.

Returns:

The difference.

interpolate

public SwerveModulePosition interpolate(SwerveModulePosition 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<SwerveModulePosition>

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.