Package swervelib.math

Class SwervePoseEstimator2.InterpolationRecord

java.lang.Object

swervelib.math.SwervePoseEstimator2.InterpolationRecord

All Implemented Interfaces:

edu.wpi.first.math.interpolation.Interpolatable<SwervePoseEstimator2.InterpolationRecord>

Enclosing class:

SwervePoseEstimator2

private class SwervePoseEstimator2.InterpolationRecord
extends Object
implements edu.wpi.first.math.interpolation.Interpolatable<SwervePoseEstimator2.InterpolationRecord>

Represents an odometry record. The record contains the inputs provided as well as the pose that was observed based on these inputs, as well as the previous record and its inputs.

Field Summary

Fields

Modifier and Type	Field	Description
private final edu.wpi.first.math.geometry.Rotation2d	gyroAngle
private final edu.wpi.first.math.geometry.Rotation2d	gyroPitch
private final edu.wpi.first.math.geometry.Rotation2d	gyroRoll
private final edu.wpi.first.math.kinematics.SwerveModulePosition[]	modulePositions
private final edu.wpi.first.math.geometry.Pose2d	poseMeters

Constructor Summary

Constructors

Modifier	Constructor	Description
private	InterpolationRecord(edu.wpi.first.math.geometry.Pose2d poseMeters, edu.wpi.first.math.geometry.Rotation2d gyro, edu.wpi.first.math.geometry.Rotation2d gyroPitch, edu.wpi.first.math.geometry.Rotation2d gyroRoll, edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions)	Constructs an Interpolation Record with the specified parameters.

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object obj)
int	hashCode()
SwervePoseEstimator2.InterpolationRecord	interpolate(SwervePoseEstimator2.InterpolationRecord endValue, double t)	Return the interpolated record.

Methods inherited from class java.lang.Object

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

Field Details

poseMeters

private final edu.wpi.first.math.geometry.Pose2d poseMeters

gyroAngle

private final edu.wpi.first.math.geometry.Rotation2d gyroAngle

gyroPitch

private final edu.wpi.first.math.geometry.Rotation2d gyroPitch

gyroRoll

private final edu.wpi.first.math.geometry.Rotation2d gyroRoll

modulePositions

private final edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions

Constructor Details

InterpolationRecord

private InterpolationRecord(edu.wpi.first.math.geometry.Pose2d poseMeters,
 edu.wpi.first.math.geometry.Rotation2d gyro,
 edu.wpi.first.math.geometry.Rotation2d gyroPitch,
 edu.wpi.first.math.geometry.Rotation2d gyroRoll,
 edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions)

Constructs an Interpolation Record with the specified parameters.

Parameters:

poseMeters - The pose observed given the current sensor inputs and the previous pose.

gyro - The current gyro angle.

gyroPitch - The current gyro pitch.

gyroRoll - The current gyro roll.

modulePositions - The distances and rotations measured at each wheel.

Method Details

interpolate

public SwervePoseEstimator2.InterpolationRecord interpolate(SwervePoseEstimator2.InterpolationRecord endValue,
 double t)

Return the interpolated record. This object is assumed to be the starting position, or lower bound.

Specified by:

interpolate in interface edu.wpi.first.math.interpolation.Interpolatable<SwervePoseEstimator2.InterpolationRecord>

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.

equals

public boolean equals(Object obj)

Overrides:

equals in class Object

hashCode

public int hashCode()

Overrides:

hashCode in class Object