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Enhanced odometry
2023-04-08 13:14:18 -05:00
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Updated docs
2023-04-08 13:35:46 -05:00
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Enhanced odometry
2023-04-08 13:14:18 -05:00
<title>SwervePoseEstimator2.InterpolationRecord</title>
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<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.math</a></div>
<h1 title="Class SwervePoseEstimator2.InterpolationRecord" class="title">Class SwervePoseEstimator2.InterpolationRecord</h1>
</div>
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
<div class="inheritance">swervelib.math.SwervePoseEstimator2.InterpolationRecord</div>
</div>
<section class="class-description" id="class-description">
<dl class="notes">
<dt>All Implemented Interfaces:</dt>
<dd><code>edu.wpi.first.math.interpolation.Interpolatable&lt;<a href="SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a>&gt;</code></dd>
</dl>
<dl class="notes">
<dt>Enclosing class:</dt>
<dd><a href="SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dd>
</dl>
<hr>
<div class="type-signature"><span class="modifiers">private class </span><span class="element-name type-name-label">SwervePoseEstimator2.InterpolationRecord</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a>
implements edu.wpi.first.math.interpolation.Interpolatable&lt;<a href="SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a>&gt;</span></div>
<div class="block">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.</div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>private final edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color"><code><a href="#gyroAngle" class="member-name-link">gyroAngle</a></code></div>
<div class="col-last even-row-color">&nbsp;</div>
<div class="col-first odd-row-color"><code>private final edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second odd-row-color"><code><a href="#gyroPitch" class="member-name-link">gyroPitch</a></code></div>
<div class="col-last odd-row-color">&nbsp;</div>
<div class="col-first even-row-color"><code>private final edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color"><code><a href="#gyroRoll" class="member-name-link">gyroRoll</a></code></div>
<div class="col-last even-row-color">&nbsp;</div>
<div class="col-first odd-row-color"><code>private final edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
<div class="col-second odd-row-color"><code><a href="#modulePositions" class="member-name-link">modulePositions</a></code></div>
<div class="col-last odd-row-color">&nbsp;</div>
<div class="col-first even-row-color"><code>private final edu.wpi.first.math.geometry.Pose2d</code></div>
<div class="col-second even-row-color"><code><a href="#poseMeters" class="member-name-link">poseMeters</a></code></div>
<div class="col-last even-row-color">&nbsp;</div>
</div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier</div>
<div class="table-header col-second">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>private </code></div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">InterpolationRecord</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;poseMeters,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyro,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroPitch,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroRoll,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions)</code></div>
<div class="col-last even-row-color">
<div class="block">Constructs an Interpolation Record with the specified parameters.</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
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<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#equals(java.lang.Object)" class="member-name-link">equals</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a>&nbsp;obj)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>int</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#hashCode()" class="member-name-link">hashCode</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#interpolate(swervelib.math.SwervePoseEstimator2.InterpolationRecord,double)" class="member-name-link">interpolate</a><wbr>(<a href="SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a>&nbsp;endValue,
double&nbsp;t)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Return the interpolated record.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="poseMeters">
<h3>poseMeters</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Pose2d</span>&nbsp;<span class="element-name">poseMeters</span></div>
</section>
</li>
<li>
<section class="detail" id="gyroAngle">
<h3>gyroAngle</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span>&nbsp;<span class="element-name">gyroAngle</span></div>
</section>
</li>
<li>
<section class="detail" id="gyroPitch">
<h3>gyroPitch</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span>&nbsp;<span class="element-name">gyroPitch</span></div>
</section>
</li>
<li>
<section class="detail" id="gyroRoll">
<h3>gyroRoll</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span>&nbsp;<span class="element-name">gyroRoll</span></div>
</section>
</li>
<li>
<section class="detail" id="modulePositions">
<h3>modulePositions</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModulePosition[]</span>&nbsp;<span class="element-name">modulePositions</span></div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[])">
<h3>InterpolationRecord</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="element-name">InterpolationRecord</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d&nbsp;poseMeters,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyro,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroPitch,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroRoll,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions)</span></div>
<div class="block">Constructs an Interpolation Record with the specified parameters.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>poseMeters</code> - The pose observed given the current sensor inputs and the previous pose.</dd>
<dd><code>gyro</code> - The current gyro angle.</dd>
<dd><code>gyroPitch</code> - The current gyro pitch.</dd>
<dd><code>gyroRoll</code> - The current gyro roll.</dd>
<dd><code>modulePositions</code> - The distances and rotations measured at each wheel.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
<!-- ============ METHOD DETAIL ========== -->
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="interpolate(swervelib.math.SwervePoseEstimator2.InterpolationRecord,double)">
<h3>interpolate</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></span>&nbsp;<span class="element-name">interpolate</span><wbr><span class="parameters">(<a href="SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a>&nbsp;endValue,
double&nbsp;t)</span></div>
<div class="block">Return the interpolated record. This object is assumed to be the starting position, or lower bound.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code>interpolate</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.math.interpolation.Interpolatable&lt;<a href="SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a>&gt;</code></dd>
<dt>Parameters:</dt>
<dd><code>endValue</code> - The upper bound, or end.</dd>
<dd><code>t</code> - How far between the lower and upper bound we are. This should be bounded in [0, 1].</dd>
<dt>Returns:</dt>
<dd>The interpolated value.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="equals(java.lang.Object)">
<h3>equals</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">equals</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a>&nbsp;obj)</span></div>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="hashCode()">
<h3>hashCode</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">hashCode</span>()</div>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
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