<divclass="inheritance"title="Inheritance Tree"><ahref="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>
<divclass="type-signature"><spanclass="modifiers">public class </span><spanclass="element-name type-name-label">SwerveIMUSimulation</span>
<spanclass="extends-implements">extends <ahref="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></span></div>
<divclass="block">Simulation for <ahref="../SwerveDrive.html"title="class in swervelib"><code>SwerveDrive</code></a> IMU.</div>
</section>
<sectionclass="summary">
<ulclass="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<sectionclass="field-summary"id="field-summary">
<h2>Field Summary</h2>
<divclass="caption"><span>Fields</span></div>
<divclass="summary-table three-column-summary">
<divclass="table-header col-first">Modifier and Type</div>
<divclass="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><ahref="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html"title="class or interface in java.util"class="external-link">Optional</a><edu.wpi.first.math.geometry.Translation3d></code></div>
<divclass="block">Update the odometry of the simulated <ahref="../SwerveDrive.html"title="class in swervelib"><code>SwerveDrive</code></a> and post the <ahref="../SwerveModule.html"title="class in swervelib"><code>SwerveModule</code></a>
states to the <code>Field2d</code>.</div>
</div>
</div>
</div>
</div>
<divclass="inherited-list">
<h3id="methods-inherited-from-class-java.lang.Object">Methods inherited from class java.lang.<ahref="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><ahref="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>, <ahref="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>, <ahref="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>, <ahref="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>, <ahref="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>, <ahref="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>, <ahref="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>, <ahref="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>, <ahref="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>, <ahref="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>, <ahref="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>
<divclass="member-signature"><spanclass="modifiers">public</span> <spanclass="return-type"><ahref="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html"title="class or interface in java.util"class="external-link">Optional</a><edu.wpi.first.math.geometry.Translation3d></span> <spanclass="element-name">getAccel</span>()</div>
<divclass="block">Fetch the acceleration [x, y, z] from the IMU in m/s/s. If acceleration isn't supported returns empty.</div>
<dlclass="notes">
<dt>Returns:</dt>
<dd><code>Translation3d</code> of the acceleration as an <ahref="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html"title="class or interface in java.util"class="external-link"><code>Optional</code></a>.</dd>
<divclass="member-signature"><spanclass="modifiers">public</span> <spanclass="return-type">void</span> <spanclass="element-name">updateOdometry</span><wbr><spanclass="parameters">(<ahref="../math/SwerveKinematics2.html"title="class in swervelib.math">SwerveKinematics2</a> kinematics,
<ahref="../math/SwerveModuleState2.html"title="class in swervelib.math">SwerveModuleState2</a>[] states,
<divclass="block">Update the odometry of the simulated <ahref="../SwerveDrive.html"title="class in swervelib"><code>SwerveDrive</code></a> and post the <ahref="../SwerveModule.html"title="class in swervelib"><code>SwerveModule</code></a>
states to the <code>Field2d</code>.</div>
<dlclass="notes">
<dt>Parameters:</dt>
<dd><code>kinematics</code> - <ahref="../math/SwerveKinematics2.html"title="class in swervelib.math"><code>SwerveKinematics2</code></a> of the swerve drive.</dd>
<dd><code>states</code> - <ahref="../math/SwerveModuleState2.html"title="class in swervelib.math"><code>SwerveModuleState2</code></a> array of the module states.</dd>
<dd><code>modulePoses</code> - <code>Pose2d</code> representing the swerve modules.</dd>
<dd><code>field</code> - <code>Field2d</code> to update.</dd>
