MecanumDriveWheelPositions.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/SymbolExports.h>
 
#include "units/length.h"
 
namespace frc {
/**
 * Represents the wheel speeds for a mecanum drive drivetrain.
 */
struct WPILIB_DLLEXPORT MecanumDriveWheelPositions {
  /**
   * Distance driven by the front-left wheel.
   */
  units::meter_t frontLeft = 0_m;
 
  /**
   * Distance driven by the front-right wheel.
   */
  units::meter_t frontRight = 0_m;
 
  /**
   * Distance driven by the rear-left wheel.
   */
  units::meter_t rearLeft = 0_m;
 
  /**
   * Distance driven by the rear-right wheel.
   */
  units::meter_t rearRight = 0_m;
 
  /**
   * Checks equality between this MecanumDriveWheelPositions and another object.
   *
   * @param other The other object.
   * @return Whether the two objects are equal.
   */
  bool operator==(const MecanumDriveWheelPositions& other) const = default;
 
  /**
   * Checks inequality between this MecanumDriveWheelPositions and another
   * object.
   *
   * @param other The other object.
   * @return Whether the two objects are not equal.
   */
  bool operator!=(const MecanumDriveWheelPositions& other) const = default;
};
}  // namespace frc