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Package swervelib.math
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Class Matter

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java.lang.Object +
swervelib.math.Matter
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public class Matter +extends Object
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Object with significant mass that needs to be taken into account.
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    Field Summary

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    Fields
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    Modifier and Type
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    Field
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    Description
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    double
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    mass
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    Mass in kg of object.
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    edu.wpi.first.math.geometry.Translation3d
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    position
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    Position in meters from robot center in 3d space.
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    Constructor Summary

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    Constructors
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    Constructor
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    Description
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    Matter(edu.wpi.first.math.geometry.Translation3d position, + double mass)
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    Construct an object representing some significant matter on the robot.
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    Method Summary

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    Modifier and Type
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    Method
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    Description
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    edu.wpi.first.math.geometry.Translation3d
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    massMoment()
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    Get the center mass of the object.
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    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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    Field Details

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      position

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      public edu.wpi.first.math.geometry.Translation3d position
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      Position in meters from robot center in 3d space.
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      mass

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      public double mass
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      Mass in kg of object.
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    Constructor Details

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      Matter

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      public Matter(edu.wpi.first.math.geometry.Translation3d position, + double mass)
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      Construct an object representing some significant matter on the robot.
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      Parameters:
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      position - Position of the matter in meters.
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      mass - Mass in kg.
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    Method Details

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      massMoment

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      public edu.wpi.first.math.geometry.Translation3d massMoment()
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      Get the center mass of the object.
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      Returns:
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      center mass = position * mass
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