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<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<title>SwerveDriveOdometry2</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 SwerveDriveOdometry2" class="title">Class SwerveDriveOdometry2</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">edu.wpi.first.math.kinematics.SwerveDriveOdometry
<div class="inheritance">swervelib.math.SwerveDriveOdometry2</div>
</div>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveDriveOdometry2</span>
<span class="extends-implements">extends edu.wpi.first.math.kinematics.SwerveDriveOdometry</span></div>
<div class="block">Clone of <code>SwerveDriveOdometry</code> except uses gyro pitch and roll to achieve a more accurate estimation.
Originally made by Team 1466.</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 edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color"><code><a href="#m_gyroOffset" class="member-name-link">m_gyroOffset</a></code></div>
<div class="col-last even-row-color">
<div class="block">Gyro offset.</div>
</div>
<div class="col-first odd-row-color"><code>private final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
<div class="col-second odd-row-color"><code><a href="#m_kinematics" class="member-name-link">m_kinematics</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve drive kinematics.</div>
</div>
<div class="col-first even-row-color"><code>private final int</code></div>
<div class="col-second even-row-color"><code><a href="#m_numModules" class="member-name-link">m_numModules</a></code></div>
<div class="col-last even-row-color">
<div class="block">Number of swerve modules.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Pose2d</code></div>
<div class="col-second odd-row-color"><code><a href="#m_poseMeters" class="member-name-link">m_poseMeters</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Estimated pose.</div>
</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color"><code><a href="#m_previousAngle" class="member-name-link">m_previousAngle</a></code></div>
<div class="col-last even-row-color">
<div class="block">Previous gyroscope angle.</div>
</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="#m_previousModulePositions" class="member-name-link">m_previousModulePositions</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Previous swerve module positions.</div>
</div>
<div class="col-first even-row-color"><code>private final edu.wpi.first.math.kinematics.SwerveModuleState[]</code></div>
<div class="col-second even-row-color"><code><a href="#m_zeroModuleStates" class="member-name-link">m_zeroModuleStates</a></code></div>
<div class="col-last even-row-color">
<div class="block">Zero module states.</div>
</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 two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">SwerveDriveOdometry2</a><wbr>(edu.wpi.first.math.kinematics.SwerveDriveKinematics&nbsp;kinematics,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions)</code></div>
<div class="col-last even-row-color">
<div class="block">Constructs a SwerveDriveOdometry object with the default pose at the origin.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">SwerveDriveOdometry2</a><wbr>(edu.wpi.first.math.kinematics.SwerveDriveKinematics&nbsp;kinematics,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions,
edu.wpi.first.math.geometry.Pose2d&nbsp;initialPose)</code></div>
<div class="col-last odd-row-color">
<div class="block">Constructs a SwerveDriveOdometry object.</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>
<div id="method-summary-table.tabpanel" role="tabpanel">
<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>edu.wpi.first.math.geometry.Pose2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPoseMeters()" class="member-name-link">getPoseMeters</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Returns the position of the robot on the field.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetPosition(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetPosition</a><wbr>(edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions,
edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Resets the robot's position on the field.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#update(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">update</a><wbr>(edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroYaw,
edu.wpi.first.math.geometry.Rotation2d&nbsp;pitch,
edu.wpi.first.math.geometry.Rotation2d&nbsp;roll,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Updates the robot's position on the field using forward kinematics and integration of the pose over time.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-edu.wpi.first.math.kinematics.SwerveDriveOdometry">Methods inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveDriveOdometry</h3>
<code>update</code></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#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</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#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</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="m_kinematics">
<h3>m_kinematics</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveDriveKinematics</span>&nbsp;<span class="element-name">m_kinematics</span></div>
<div class="block">Swerve drive kinematics.</div>
</section>
</li>
<li>
<section class="detail" id="m_numModules">
<h3>m_numModules</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">m_numModules</span></div>
<div class="block">Number of swerve modules.</div>
</section>
</li>
<li>
<section class="detail" id="m_previousModulePositions">
<h3>m_previousModulePositions</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">m_previousModulePositions</span></div>
<div class="block">Previous swerve module positions.</div>
</section>
</li>
<li>
<section class="detail" id="m_zeroModuleStates">
<h3>m_zeroModuleStates</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState[]</span>&nbsp;<span class="element-name">m_zeroModuleStates</span></div>
<div class="block">Zero module states.</div>
</section>
</li>
<li>
<section class="detail" id="m_poseMeters">
<h3>m_poseMeters</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Pose2d</span>&nbsp;<span class="element-name">m_poseMeters</span></div>
<div class="block">Estimated pose.</div>
</section>
</li>
<li>
<section class="detail" id="m_gyroOffset">
<h3>m_gyroOffset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span>&nbsp;<span class="element-name">m_gyroOffset</span></div>
<div class="block">Gyro offset.</div>
</section>
</li>
<li>
<section class="detail" id="m_previousAngle">
<h3>m_previousAngle</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span>&nbsp;<span class="element-name">m_previousAngle</span></div>
<div class="block">Previous gyroscope angle.</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.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[],edu.wpi.first.math.geometry.Pose2d)">
<h3>SwerveDriveOdometry2</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveDriveOdometry2</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveDriveKinematics&nbsp;kinematics,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions,
edu.wpi.first.math.geometry.Pose2d&nbsp;initialPose)</span></div>
<div class="block">Constructs a SwerveDriveOdometry object.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>kinematics</code> - The swerve drive kinematics for your drivetrain.</dd>
<dd><code>gyroAngle</code> - The angle reported by the gyroscope.</dd>
<dd><code>modulePositions</code> - The wheel positions reported by each module.</dd>
<dd><code>initialPose</code> - The starting position of the robot on the field.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[])">
<h3>SwerveDriveOdometry2</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveDriveOdometry2</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveDriveKinematics&nbsp;kinematics,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions)</span></div>
<div class="block">Constructs a SwerveDriveOdometry object with the default pose at the origin.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>kinematics</code> - The swerve drive kinematics for your drivetrain.</dd>
<dd><code>gyroAngle</code> - The angle reported by the gyroscope.</dd>
<dd><code>modulePositions</code> - The wheel positions reported by each module.</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="resetPosition(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[],edu.wpi.first.math.geometry.Pose2d)">
<h3>resetPosition</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">resetPosition</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions,
edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</span></div>
<div class="block">Resets the robot's position on the field.
<p>The gyroscope angle does not need to be reset here on the user's robot code. The library
automatically takes care of offsetting the gyro angle.
<p>Similarly, module positions do not need to be reset in user code.</div>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code>resetPosition</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveOdometry</code></dd>
<dt>Parameters:</dt>
<dd><code>gyroAngle</code> - The angle reported by the gyroscope.</dd>
<dd><code>modulePositions</code> - The wheel positions reported by each module.,</dd>
<dd><code>pose</code> - The position on the field that your robot is at.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getPoseMeters()">
<h3>getPoseMeters</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Pose2d</span>&nbsp;<span class="element-name">getPoseMeters</span>()</div>
<div class="block">Returns the position of the robot on the field.</div>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code>getPoseMeters</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveOdometry</code></dd>
<dt>Returns:</dt>
<dd>The pose of the robot (x and y are in meters).</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="update(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>update</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Pose2d</span>&nbsp;<span class="element-name">update</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroYaw,
edu.wpi.first.math.geometry.Rotation2d&nbsp;pitch,
edu.wpi.first.math.geometry.Rotation2d&nbsp;roll,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions)</span></div>
<div class="block">Updates the robot's position on the field using forward kinematics and integration of the pose over time. This
method automatically calculates the current time to calculate period (difference between two timestamps). The
period is used to calculate the change in distance from a velocity. This also takes in an angle parameter which is
used instead of the angular rate that is calculated from forward kinematics. This also takes in pitch and roll to
allow for more accurate pose estimation on angled surfaces using a rotation matrix.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>gyroYaw</code> - The yaw reported by the gyro.</dd>
<dd><code>pitch</code> - The pitch reported by the gyro.</dd>
<dd><code>roll</code> - The roll reported by the gyro.</dd>
<dd><code>modulePositions</code> - The current position of all swerve modules. Please provide the positions in the same order
in which you instantiated your SwerveDriveKinematics.</dd>
<dt>Returns:</dt>
<dd>The new pose of the robot.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
</section>
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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 SwerveKinematics2" class="title">Class SwerveKinematics2</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">edu.wpi.first.math.kinematics.SwerveDriveKinematics
<div class="inheritance">swervelib.math.SwerveKinematics2</div>
</div>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveKinematics2</span>
<span class="extends-implements">extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</span></div>
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
speed. Makes use of <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> to add the angular velocity that is required of the module as an
output.</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 org.ejml.simple.SimpleMatrix</code></div>
<div class="col-second even-row-color"><code><a href="#bigInverseKinematics" class="member-name-link">bigInverseKinematics</a></code></div>
<div class="col-last even-row-color">
<div class="block">Second order kinematics inverse matrix.</div>
</div>
<div class="col-first odd-row-color"><code>private final org.ejml.simple.SimpleMatrix</code></div>
<div class="col-second odd-row-color"><code><a href="#m_forwardKinematics" class="member-name-link">m_forwardKinematics</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Forward kinematics matrix.</div>
</div>
<div class="col-first even-row-color"><code>private final org.ejml.simple.SimpleMatrix</code></div>
<div class="col-second even-row-color"><code><a href="#m_inverseKinematics" class="member-name-link">m_inverseKinematics</a></code></div>
<div class="col-last even-row-color">
<div class="block">Inverse kinematics matrix.</div>
</div>
<div class="col-first odd-row-color"><code>private final edu.wpi.first.wpilibj.Timer</code></div>
<div class="col-second odd-row-color"><code><a href="#m_moduleAccelTimer" class="member-name-link">m_moduleAccelTimer</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.Translation2d[]</code></div>
<div class="col-second even-row-color"><code><a href="#m_modules" class="member-name-link">m_modules</a></code></div>
<div class="col-last even-row-color">
<div class="block">Location of each swerve module in meters.</div>
</div>
<div class="col-first odd-row-color"><code>private final <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
<div class="col-second odd-row-color"><code><a href="#m_moduleStates" class="member-name-link">m_moduleStates</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve module states.</div>
</div>
<div class="col-first even-row-color"><code>private final int</code></div>
<div class="col-second even-row-color"><code><a href="#m_numModules" class="member-name-link">m_numModules</a></code></div>
<div class="col-last even-row-color">
<div class="block">Number of swerve modules.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
<div class="col-second odd-row-color"><code><a href="#m_prevChassisSpeeds" class="member-name-link">m_prevChassisSpeeds</a></code></div>
<div class="col-last odd-row-color">&nbsp;</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second even-row-color"><code><a href="#m_prevCoR" class="member-name-link">m_prevCoR</a></code></div>
<div class="col-last even-row-color">
<div class="block">Previous CoR</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#m_prevModuleAccelTime" class="member-name-link">m_prevModuleAccelTime</a></code></div>
<div class="col-last odd-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 two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)" class="member-name-link">SwerveKinematics2</a><wbr>(edu.wpi.first.math.geometry.Translation2d...&nbsp;wheelsMeters)</code></div>
<div class="col-last even-row-color">
<div class="block">Constructs a swerve drive kinematics object.</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-tab1" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab1', 3)" class="table-tab">Static 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>
<div id="method-summary-table.tabpanel" role="tabpanel">
<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-tab1 method-summary-table-tab4"><code>static void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,double)" class="member-name-link">desaturateWheelSpeeds</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;moduleStates,
double&nbsp;attainableMaxSpeedMetersPerSecond)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)" class="member-name-link">desaturateWheelSpeeds</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;moduleStates,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;currentChassisSpeed,
double&nbsp;attainableMaxModuleSpeedMetersPerSecond,
double&nbsp;attainableMaxTranslationalSpeedMetersPerSecond,
double&nbsp;attainableMaxRotationalVelocityRadiansPerSecond)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
joystick saturation at edges of joystick.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toChassisSpeeds(swervelib.math.SwerveModuleState2...)" class="member-name-link">toChassisSpeeds</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>...&nbsp;wheelStates)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">toSwerveModuleStates</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Performs inverse kinematics.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">toSwerveModuleStates</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds,
edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Twist2d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)" class="member-name-link">toTwist2d</a><wbr>(edu.wpi.first.math.kinematics.SwerveModulePosition...&nbsp;wheelDeltas)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-edu.wpi.first.math.kinematics.SwerveDriveKinematics">Methods inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveDriveKinematics</h3>
<code>desaturateWheelSpeeds, desaturateWheelSpeeds, toChassisSpeeds</code></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#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</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#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</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="m_inverseKinematics">
<h3>m_inverseKinematics</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">org.ejml.simple.SimpleMatrix</span>&nbsp;<span class="element-name">m_inverseKinematics</span></div>
<div class="block">Inverse kinematics matrix.</div>
</section>
</li>
<li>
<section class="detail" id="m_forwardKinematics">
<h3>m_forwardKinematics</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">org.ejml.simple.SimpleMatrix</span>&nbsp;<span class="element-name">m_forwardKinematics</span></div>
<div class="block">Forward kinematics matrix.</div>
</section>
</li>
<li>
<section class="detail" id="bigInverseKinematics">
<h3>bigInverseKinematics</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">org.ejml.simple.SimpleMatrix</span>&nbsp;<span class="element-name">bigInverseKinematics</span></div>
<div class="block">Second order kinematics inverse matrix.</div>
</section>
</li>
<li>
<section class="detail" id="m_numModules">
<h3>m_numModules</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">m_numModules</span></div>
<div class="block">Number of swerve modules.</div>
</section>
</li>
<li>
<section class="detail" id="m_modules">
<h3>m_modules</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation2d[]</span>&nbsp;<span class="element-name">m_modules</span></div>
<div class="block">Location of each swerve module in meters.</div>
</section>
</li>
<li>
<section class="detail" id="m_moduleStates">
<h3>m_moduleStates</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span>&nbsp;<span class="element-name">m_moduleStates</span></div>
<div class="block">Swerve module states.</div>
</section>
</li>
<li>
<section class="detail" id="m_moduleAccelTimer">
<h3>m_moduleAccelTimer</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj.Timer</span>&nbsp;<span class="element-name">m_moduleAccelTimer</span></div>
</section>
</li>
<li>
<section class="detail" id="m_prevCoR">
<h3>m_prevCoR</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation2d</span>&nbsp;<span class="element-name">m_prevCoR</span></div>
<div class="block">Previous CoR</div>
</section>
</li>
<li>
<section class="detail" id="m_prevChassisSpeeds">
<h3>m_prevChassisSpeeds</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span>&nbsp;<span class="element-name">m_prevChassisSpeeds</span></div>
</section>
</li>
<li>
<section class="detail" id="m_prevModuleAccelTime">
<h3>m_prevModuleAccelTime</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">m_prevModuleAccelTime</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.Translation2d...)">
<h3>SwerveKinematics2</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveKinematics2</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Translation2d...&nbsp;wheelsMeters)</span></div>
<div class="block">Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations as Translation2ds.
The order in which you pass in the wheel locations is the same order that you will receive the module states when
performing inverse kinematics. It is also expected that you pass in the module states in the same order when
calling the forward kinematics methods.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>wheelsMeters</code> - The locations of the wheels relative to the physical center of the robot.</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="desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],double)">
<h3>desaturateWheelSpeeds</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">desaturateWheelSpeeds</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;moduleStates,
double&nbsp;attainableMaxSpeedMetersPerSecond)</span></div>
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.
<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
maintaining the ratio of speeds between modules.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>moduleStates</code> - Reference to array of module states. The array will be mutated with the
normalized speeds!</dd>
<dd><code>attainableMaxSpeedMetersPerSecond</code> - The absolute max speed that a module can reach.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">
<h3>desaturateWheelSpeeds</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">desaturateWheelSpeeds</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;moduleStates,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;currentChassisSpeed,
double&nbsp;attainableMaxModuleSpeedMetersPerSecond,
double&nbsp;attainableMaxTranslationalSpeedMetersPerSecond,
double&nbsp;attainableMaxRotationalVelocityRadiansPerSecond)</span></div>
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
joystick saturation at edges of joystick.
<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
maintaining the ratio of speeds between modules.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>moduleStates</code> - Reference to array of module states. The array will be
mutated with the normalized speeds!</dd>
<dd><code>currentChassisSpeed</code> - The current speed of the robot</dd>
<dd><code>attainableMaxModuleSpeedMetersPerSecond</code> - The absolute max speed that a module can reach</dd>
<dd><code>attainableMaxTranslationalSpeedMetersPerSecond</code> - The absolute max speed that your robot can reach while
translating</dd>
<dd><code>attainableMaxRotationalVelocityRadiansPerSecond</code> - The absolute max speed the robot can reach while rotating</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">
<h3>toSwerveModuleStates</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span>&nbsp;<span class="element-name">toSwerveModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds,
edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</span></div>
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity. This method is often used
to convert joystick values into module speeds and angles.
<p>This function also supports variable centers of rotation. During normal operations, the
center of rotation is usually the same as the physical center of the robot; therefore, the argument is defaulted to
that use case. However, if you wish to change the center of rotation for evasive maneuvers, vision alignment, or
for any other use case, you can do so.
<p>In the case that the desired chassis speeds are zero (i.e. the robot will be stationary),
the previously calculated module angle will be maintained.</div>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code>toSwerveModuleStates</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
<dt>Parameters:</dt>
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
<dd><code>centerOfRotationMeters</code> - The center of rotation. For example, if you set the center of rotation at one corner
of the robot and provide a chassis speed that only has a dtheta component, the robot
will rotate around that corner.</dd>
<dt>Returns:</dt>
<dd>An array containing the module states. Use caution because these module states are not normalized.
Sometimes, a user input may cause one of the module speeds to go above the attainable max velocity. Use the
<a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,double)"><code>DesaturateWheelSpeeds</code></a> function to rectify this issue.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">
<h3>toSwerveModuleStates</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span>&nbsp;<span class="element-name">toSwerveModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</span></div>
<div class="block">Performs inverse kinematics. See <a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"><code>toSwerveModuleStates(ChassisSpeeds, Translation2d)</code></a> toSwerveModuleStates
for more information.</div>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code>toSwerveModuleStates</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
<dt>Parameters:</dt>
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
<dt>Returns:</dt>
<dd>An array containing the module states.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="toChassisSpeeds(swervelib.math.SwerveModuleState2...)">
<h3>toChassisSpeeds</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span>&nbsp;<span class="element-name">toChassisSpeeds</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>...&nbsp;wheelStates)</span></div>
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
often used for odometry -- determining the robot's position on the field using data from the real-world speed and
angle of each module on the robot.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>wheelStates</code> - The state of the modules (as a SwerveModuleState type) as measured from respective encoders and
gyros. The order of the swerve module states should be same as passed into the constructor of
this class.</dd>
<dt>Returns:</dt>
<dd>The resulting chassis speed.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">
<h3>toTwist2d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Twist2d</span>&nbsp;<span class="element-name">toTwist2d</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModulePosition...&nbsp;wheelDeltas)</span></div>
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
often used for odometry -- determining the robot's position on the field using data from the real-world speed and
angle of each module on the robot.</div>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code>toTwist2d</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
<dt>Parameters:</dt>
<dd><code>wheelDeltas</code> - The latest change in position of the modules (as a SwerveModulePosition type) as measured from
respective encoders and gyros. The order of the swerve module states should be same as passed
into the constructor of this class.</dd>
<dt>Returns:</dt>
<dd>The resulting Twist2d.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
</section>
<!-- ========= END OF CLASS DATA ========= -->
</main>
</div>
</div>
</body>
</html>

108
docs/swervelib/math/SwerveMath.html
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@@ -1,18 +1,17 @@
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<head>
<!-- Generated by javadoc (17) on Tue Dec 12 10:48:21 CST 2023 -->
<title>SwerveMath</title>
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<title>SwerveMath (YAGSL-Example API)</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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@@ -36,7 +35,7 @@ loadScripts(document, 'script');</script>
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<li><a href="package-tree.html">Tree</a></li>
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@@ -120,87 +119,79 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Algebraically apply a deadband using a piece wise function.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>private static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">calcMaxAccel</a><wbr>(edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/List.html" title="class or interface in java.util" class="external-link">List</a>&lt;<a href="Matter.html" title="class in swervelib.math">Matter</a>&gt;&nbsp;matter,
double&nbsp;robotMass,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateDegreesPerSteeringRotation(double,double)" class="member-name-link">calculateDegreesPerSteeringRotation</a><wbr>(double&nbsp;angleGearRatio,
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateDegreesPerSteeringRotation(double,double)" class="member-name-link">calculateDegreesPerSteeringRotation</a><wbr>(double&nbsp;angleGearRatio,
double&nbsp;pulsePerRotation)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the degrees per steering rotation for the integrated encoder.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAcceleration(double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;cof)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAcceleration(double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;cof)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAcceleration(double,double,double,double,double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;stallTorqueNm,
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAcceleration(double,double,double,double,double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;stallTorqueNm,
double&nbsp;gearRatio,
double&nbsp;moduleCount,
double&nbsp;wheelDiameter,
double&nbsp;robotMass)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the maximum theoretical acceleration without friction.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAngularVelocity(double,double,double)" class="member-name-link">calculateMaxAngularVelocity</a><wbr>(double&nbsp;maxSpeed,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAngularVelocity(double,double,double)" class="member-name-link">calculateMaxAngularVelocity</a><wbr>(double&nbsp;maxSpeed,
double&nbsp;furthestModuleX,
double&nbsp;furthestModuleY)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the maximum angular velocity.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMetersPerRotation(double,double,double)" class="member-name-link">calculateMetersPerRotation</a><wbr>(double&nbsp;wheelDiameter,
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMetersPerRotation(double,double,double)" class="member-name-link">calculateMetersPerRotation</a><wbr>(double&nbsp;wheelDiameter,
double&nbsp;driveGearRatio,
double&nbsp;pulsePerRotation)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the meters per rotation for the integrated encoder.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.controller.SimpleMotorFeedforward</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#createDriveFeedforward(double,double,double)" class="member-name-link">createDriveFeedforward</a><wbr>(double&nbsp;optimalVoltage,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.controller.SimpleMotorFeedforward</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#createDriveFeedforward(double,double,double)" class="member-name-link">createDriveFeedforward</a><wbr>(double&nbsp;optimalVoltage,
double&nbsp;maxSpeed,
double&nbsp;wheelGripCoefficientOfFriction)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Create the drive feedforward for swerve modules.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="../parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getSwerveModule(swervelib.SwerveModule%5B%5D,boolean,boolean)" class="member-name-link">getSwerveModule</a><wbr>(<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]&nbsp;modules,
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="../parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getSwerveModule(swervelib.SwerveModule%5B%5D,boolean,boolean)" class="member-name-link">getSwerveModule</a><wbr>(<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]&nbsp;modules,
boolean&nbsp;front,
boolean&nbsp;left)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Get the fruthest module from center based on the module locations.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,java.util.List,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">limitVelocity</a><wbr>(edu.wpi.first.math.geometry.Translation2d&nbsp;commandedVelocity,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,java.util.List,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">limitVelocity</a><wbr>(edu.wpi.first.math.geometry.Translation2d&nbsp;commandedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;fieldVelocity,
edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose,
double&nbsp;loopTime,
double&nbsp;robotMass,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/List.html" title="class or interface in java.util" class="external-link">List</a>&lt;<a href="Matter.html" title="class in swervelib.math">Matter</a>&gt;&nbsp;matter,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by <a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List&lt;swervelib.math.Matter&gt;, double, swervelib.parser.SwerveDriveConfiguration)</code></a>.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#normalizeAngle(double)" class="member-name-link">normalizeAngle</a><wbr>(double&nbsp;angle)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Normalize an angle to be within 0 to 360.</div>
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by <code>calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List&lt;swervelib.math.Matter&gt;, double, swervelib.parser.SwerveDriveConfiguration)</code>.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double&nbsp;scopeReference,
double&nbsp;newAngle)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#normalizeAngle(double)" class="member-name-link">normalizeAngle</a><wbr>(double&nbsp;angle)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Normalize an angle to be within 0 to 360.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double&nbsp;scopeReference,
double&nbsp;newAngle)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Put an angle within the 360 deg scope of a reference.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Twist2d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#PoseLog(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">PoseLog</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;transform)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Twist2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#PoseLog(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">PoseLog</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;transform)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Logical inverse of the Pose exponential from 254.</div>
</div>
</div>
@@ -368,27 +359,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)">
<h3>calcMaxAccel</h3>
<div class="member-signature"><span class="modifiers">private static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">calcMaxAccel</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/List.html" title="class or interface in java.util" class="external-link">List</a>&lt;<a href="Matter.html" title="class in swervelib.math">Matter</a>&gt;&nbsp;matter,
double&nbsp;robotMass,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</span></div>
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from
NetworkTables and is passed the direction in question.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>angle</code> - The direction in which to calculate max acceleration, as a Rotation2d. Note that this is
robot-relative.</dd>
<dd><code>matter</code> - Matter that the robot is composed of in kg. (Includes chassis)</dd>
<dd><code>robotMass</code> - The weight of the robot in kg. (Including manipulators, etc).</dd>
<dd><code>config</code> - The swerve drive configuration.</dd>
<dt>Returns:</dt>
<dd>Maximum acceleration allowed in the robot direction.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="PoseLog(edu.wpi.first.math.geometry.Pose2d)">
<h3>PoseLog</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Twist2d</span>&nbsp;<span class="element-name">PoseLog</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d&nbsp;transform)</span></div>
@@ -411,7 +381,7 @@ loadScripts(document, 'script');</script>
double&nbsp;robotMass,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/List.html" title="class or interface in java.util" class="external-link">List</a>&lt;<a href="Matter.html" title="class in swervelib.math">Matter</a>&gt;&nbsp;matter,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</span></div>
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by <a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List&lt;swervelib.math.Matter&gt;, double, swervelib.parser.SwerveDriveConfiguration)</code></a>.
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by <code>calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List&lt;swervelib.math.Matter&gt;, double, swervelib.parser.SwerveDriveConfiguration)</code>.
Note that this takes and returns field-relative velocities.</div>
<dl class="notes">
<dt>Parameters:</dt>

298
docs/swervelib/math/SwerveModuleState2.html
View File

@@ -1,298 +0,0 @@
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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 SwerveModuleState2" class="title">Class SwerveModuleState2</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">edu.wpi.first.math.kinematics.SwerveModuleState
<div class="inheritance">swervelib.math.SwerveModuleState2</div>
</div>
</div>
<section class="class-description" id="class-description">
<dl class="notes">
<dt>All Implemented Interfaces:</dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Comparable.html" title="class or interface in java.lang" class="external-link">Comparable</a>&lt;edu.wpi.first.math.kinematics.SwerveModuleState&gt;</code></dd>
</dl>
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveModuleState2</span>
<span class="extends-implements">extends edu.wpi.first.math.kinematics.SwerveModuleState</span></div>
<div class="block">Second order kinematics swerve module state.</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>double</code></div>
<div class="col-second even-row-color"><code><a href="#omegaRadPerSecond" class="member-name-link">omegaRadPerSecond</a></code></div>
<div class="col-last even-row-color">
<div class="block">Rad per sec</div>
</div>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-edu.wpi.first.math.kinematics.SwerveModuleState">Fields inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveModuleState</h3>
<code>angle, speedMetersPerSecond</code></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 two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">SwerveModuleState2</a>()</code></div>
<div class="col-last even-row-color">
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)" class="member-name-link">SwerveModuleState2</a><wbr>(double&nbsp;speedMetersPerSecond,
edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
double&nbsp;omegaRadPerSecond)</code></div>
<div class="col-last odd-row-color">
<div class="block">Constructs a SwerveModuleState.</div>
</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveModuleState,double)" class="member-name-link">SwerveModuleState2</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;state,
double&nbsp;omegaRadPerSecond)</code></div>
<div class="col-last even-row-color">
<div class="block">Create a <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> based on the <code>SwerveModuleState</code> with the radians per second defined.</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-tab1" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab1', 3)" class="table-tab">Static 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>
<div id="method-summary-table.tabpanel" role="tabpanel">
<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><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#invert()" class="member-name-link">invert</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Invert the swerve module state.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,swervelib.math.SwerveModuleState2,double)" class="member-name-link">optimize</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle,
<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;lastState,
double&nbsp;moduleSteerFeedForwardClosedLoop)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
the wheel spins.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toSwerveModuleState()" class="member-name-link">toSwerveModuleState</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Convert to a <code>SwerveModuleState</code>.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-edu.wpi.first.math.kinematics.SwerveModuleState">Methods inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveModuleState</h3>
<code>compareTo, equals, hashCode, optimize, toString</code></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#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="omegaRadPerSecond">
<h3>omegaRadPerSecond</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">omegaRadPerSecond</span></div>
<div class="block">Rad per sec</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;()">
<h3>SwerveModuleState2</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleState2</span>()</div>
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(double,edu.wpi.first.math.geometry.Rotation2d,double)">
<h3>SwerveModuleState2</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleState2</span><wbr><span class="parameters">(double&nbsp;speedMetersPerSecond,
edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
double&nbsp;omegaRadPerSecond)</span></div>
<div class="block">Constructs a SwerveModuleState.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>speedMetersPerSecond</code> - The speed of the wheel of the module.</dd>
<dd><code>angle</code> - The angle of the module.</dd>
<dd><code>omegaRadPerSecond</code> - The angular velocity of the module.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(edu.wpi.first.math.kinematics.SwerveModuleState,double)">
<h3>SwerveModuleState2</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleState2</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;state,
double&nbsp;omegaRadPerSecond)</span></div>
<div class="block">Create a <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> based on the <code>SwerveModuleState</code> with the radians per second defined.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>state</code> - First order kinematic module state.</dd>
<dd><code>omegaRadPerSecond</code> - Module wheel angular rotation in radians per second.</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="optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,swervelib.math.SwerveModuleState2,double)">
<h3>optimize</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></span>&nbsp;<span class="element-name">optimize</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle,
<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;lastState,
double&nbsp;moduleSteerFeedForwardClosedLoop)</span></div>
<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
the wheel spins. If this is used with the PIDController class's continuous input functionality, the furthest a
wheel will ever rotate is 90 degrees.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>desiredState</code> - The desired state.</dd>
<dd><code>currentAngle</code> - The current module angle.</dd>
<dd><code>lastState</code> - The last state of the module.</dd>
<dd><code>moduleSteerFeedForwardClosedLoop</code> - The module feed forward closed loop for the angle motor.</dd>
<dt>Returns:</dt>
<dd>Optimized swerve module state.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="invert()">
<h3>invert</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></span>&nbsp;<span class="element-name">invert</span>()</div>
<div class="block">Invert the swerve module state.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>Current inverted <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="toSwerveModuleState()">
<h3>toSwerveModuleState</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState</span>&nbsp;<span class="element-name">toSwerveModuleState</span>()</div>
<div class="block">Convert to a <code>SwerveModuleState</code>.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><code>SwerveModuleState</code> with the same angle and speed.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
</section>
<!-- ========= END OF CLASS DATA ========= -->
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docs/swervelib/math/SwervePoseEstimator2.InterpolationRecord.html
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<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>
<div id="method-summary-table.tabpanel" role="tabpanel">
<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>
</section>
<!-- ========= END OF CLASS DATA ========= -->
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</div>
</body>
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<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<title>SwervePoseEstimator2</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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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" class="title">Class SwervePoseEstimator2</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</div>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwervePoseEstimator2</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></span></div>
<div class="block">Clone of <code>SwerveDrivePoseEstimator</code> which takes into account gyroscope pitch and roll to achieve a more
accurate estimation, originally made by Team 1466.</div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- ======== NESTED CLASS SUMMARY ======== -->
<li>
<section class="nested-class-summary" id="nested-class-summary">
<h2>Nested Class Summary</h2>
<div class="caption"><span>Nested Classes</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">Class</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>private class&nbsp;</code></div>
<div class="col-second even-row-color"><code><a href="SwervePoseEstimator2.InterpolationRecord.html" class="type-name-link" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></code></div>
<div class="col-last even-row-color">
<div class="block">Represents an odometry record.</div>
</div>
</div>
</section>
</li>
<!-- =========== 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.kinematics.SwerveDriveKinematics</code></div>
<div class="col-second even-row-color"><code><a href="#m_kinematics" class="member-name-link">m_kinematics</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve drive kinematics.</div>
</div>
<div class="col-first odd-row-color"><code>private final int</code></div>
<div class="col-second odd-row-color"><code><a href="#m_numModules" class="member-name-link">m_numModules</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Number of swerve modules.</div>
</div>
<div class="col-first even-row-color"><code>private final <a href="SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></code></div>
<div class="col-second even-row-color"><code><a href="#m_odometry" class="member-name-link">m_odometry</a></code></div>
<div class="col-last even-row-color">
<div class="block">Enhanced swerve drive odometry.</div>
</div>
<div class="col-first odd-row-color"><code>private final edu.wpi.first.math.interpolation.TimeInterpolatableBuffer&lt;<a href="SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a>&gt;</code></div>
<div class="col-second odd-row-color"><code><a href="#m_poseBuffer" class="member-name-link">m_poseBuffer</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Interpolation buffer.</div>
</div>
<div class="col-first even-row-color"><code>private final edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</code></div>
<div class="col-second even-row-color"><code><a href="#m_q" class="member-name-link">m_q</a></code></div>
<div class="col-last even-row-color">
<div class="block">Matrix quotient.</div>
</div>
<div class="col-first odd-row-color"><code>private final edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N3&gt;</code></div>
<div class="col-second odd-row-color"><code><a href="#m_visionK" class="member-name-link">m_visionK</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Vision standard deviations.</div>
</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 two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">SwervePoseEstimator2</a><wbr>(edu.wpi.first.math.kinematics.SwerveDriveKinematics&nbsp;kinematics,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions,
edu.wpi.first.math.geometry.Pose2d&nbsp;initialPoseMeters)</code></div>
<div class="col-last even-row-color">
<div class="block">Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision measurements.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.Matrix,edu.wpi.first.math.Matrix)" class="member-name-link">SwervePoseEstimator2</a><wbr>(edu.wpi.first.math.kinematics.SwerveDriveKinematics&nbsp;kinematics,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions,
edu.wpi.first.math.geometry.Pose2d&nbsp;initialPoseMeters,
edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;&nbsp;stateStdDevs,
edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;&nbsp;visionMeasurementStdDevs)</code></div>
<div class="col-last odd-row-color">
<div class="block">Constructs a SwerveDrivePoseEstimator.</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>
<div id="method-summary-table.tabpanel" role="tabpanel">
<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>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)" class="member-name-link">addVisionMeasurement</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;visionRobotPoseMeters,
double&nbsp;timestampSeconds)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Adds a vision measurement to the Kalman Filter.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)" class="member-name-link">addVisionMeasurement</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;visionRobotPoseMeters,
double&nbsp;timestampSeconds,
edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;&nbsp;visionMeasurementStdDevs)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Adds a vision measurement to the Kalman Filter.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getEstimatedPosition()" class="member-name-link">getEstimatedPosition</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the estimated robot pose.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetPosition(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetPosition</a><wbr>(edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions,
edu.wpi.first.math.geometry.Pose2d&nbsp;poseMeters)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Resets the robot's position on the field.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix)" class="member-name-link">setVisionMeasurementStdDevs</a><wbr>(edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;&nbsp;visionMeasurementStdDevs)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Sets the pose estimator's trust of global measurements.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#update(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">update</a><wbr>(edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
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 odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Updates the pose estimator with wheel encoder and gyro information.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateWithTime(double,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">updateWithTime</a><wbr>(double&nbsp;currentTimeSeconds,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
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 method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Updates the pose estimator with wheel encoder and gyro information.</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#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</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#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</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="m_kinematics">
<h3>m_kinematics</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveDriveKinematics</span>&nbsp;<span class="element-name">m_kinematics</span></div>
<div class="block">Swerve drive kinematics.</div>
</section>
</li>
<li>
<section class="detail" id="m_odometry">
<h3>m_odometry</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type"><a href="SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></span>&nbsp;<span class="element-name">m_odometry</span></div>
<div class="block">Enhanced swerve drive odometry.</div>
</section>
</li>
<li>
<section class="detail" id="m_q">
<h3>m_q</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</span>&nbsp;<span class="element-name">m_q</span></div>
<div class="block">Matrix quotient.</div>
</section>
</li>
<li>
<section class="detail" id="m_numModules">
<h3>m_numModules</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">m_numModules</span></div>
<div class="block">Number of swerve modules.</div>
</section>
</li>
<li>
<section class="detail" id="m_poseBuffer">
<h3>m_poseBuffer</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.interpolation.TimeInterpolatableBuffer&lt;<a href="SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a>&gt;</span>&nbsp;<span class="element-name">m_poseBuffer</span></div>
<div class="block">Interpolation buffer.</div>
</section>
</li>
<li>
<section class="detail" id="m_visionK">
<h3>m_visionK</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N3&gt;</span>&nbsp;<span class="element-name">m_visionK</span></div>
<div class="block">Vision standard deviations.</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.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[],edu.wpi.first.math.geometry.Pose2d)">
<h3>SwervePoseEstimator2</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwervePoseEstimator2</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveDriveKinematics&nbsp;kinematics,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions,
edu.wpi.first.math.geometry.Pose2d&nbsp;initialPoseMeters)</span></div>
<div class="block">Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision measurements.
<p>The default standard deviations of the model states are 0.1 meters for x, 0.1 meters for y,
and 0.1 radians for heading. The default standard deviations of the vision measurements are 0.9 meters for x, 0.9
meters for y, and 0.9 radians for heading.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>kinematics</code> - A correctly-configured kinematics object for your drivetrain.</dd>
<dd><code>gyroAngle</code> - The current gyro angle.</dd>
<dd><code>modulePositions</code> - The current distance measurements and rotations of the swerve modules.</dd>
<dd><code>initialPoseMeters</code> - The starting pose estimate.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[],edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.Matrix,edu.wpi.first.math.Matrix)">
<h3>SwervePoseEstimator2</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwervePoseEstimator2</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveDriveKinematics&nbsp;kinematics,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions,
edu.wpi.first.math.geometry.Pose2d&nbsp;initialPoseMeters,
edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;&nbsp;stateStdDevs,
edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;&nbsp;visionMeasurementStdDevs)</span></div>
<div class="block">Constructs a SwerveDrivePoseEstimator.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>kinematics</code> - A correctly-configured kinematics object for your drivetrain.</dd>
<dd><code>gyroAngle</code> - The current gyro angle.</dd>
<dd><code>modulePositions</code> - The current distance and rotation measurements of the swerve modules.</dd>
<dd><code>initialPoseMeters</code> - The starting pose estimate.</dd>
<dd><code>stateStdDevs</code> - Standard deviations of the pose estimate (x position in meters, y position in
meters, and heading in radians). Increase these numbers to trust your state
estimate less.</dd>
<dd><code>visionMeasurementStdDevs</code> - Standard deviations of the vision pose measurement (x position in meters, y
position in meters, and heading in radians). Increase these numbers to trust the
vision pose measurement less.</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="setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix)">
<h3>setVisionMeasurementStdDevs</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setVisionMeasurementStdDevs</span><wbr><span class="parameters">(edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;&nbsp;visionMeasurementStdDevs)</span></div>
<div class="block">Sets the pose estimator's trust of global measurements. This might be used to change trust in vision measurements
after the autonomous period, or to change trust as distance to a vision target increases.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>visionMeasurementStdDevs</code> - Standard deviations of the vision measurements. Increase these numbers to trust
global measurements from vision less. This matrix is in the form [x, y, theta]^T,
with units in meters and radians.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="resetPosition(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[],edu.wpi.first.math.geometry.Pose2d)">
<h3>resetPosition</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">resetPosition</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions,
edu.wpi.first.math.geometry.Pose2d&nbsp;poseMeters)</span></div>
<div class="block">Resets the robot's position on the field.
<p>The gyroscope angle does not need to be reset in the user's robot code. The library
automatically takes care of offsetting the gyro angle.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>gyroAngle</code> - The angle reported by the gyroscope.</dd>
<dd><code>modulePositions</code> - The current distance measurements and rotations of the swerve modules.</dd>
<dd><code>poseMeters</code> - The position on the field that your robot is at.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getEstimatedPosition()">
<h3>getEstimatedPosition</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Pose2d</span>&nbsp;<span class="element-name">getEstimatedPosition</span>()</div>
<div class="block">Gets the estimated robot pose.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>The estimated robot pose in meters.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)">
<h3>addVisionMeasurement</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addVisionMeasurement</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d&nbsp;visionRobotPoseMeters,
double&nbsp;timestampSeconds)</span></div>
<div class="block">Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate while still accounting
for measurement noise.
<p>This method can be called as infrequently as you want, as long as you are calling <code>SwerveDrivePoseEstimator.update(edu.wpi.first.math.geometry.Rotation2d, edu.wpi.first.math.kinematics.SwerveModulePosition[])</code> every loop.
<p>To promote stability of the pose estimate and make it robust to bad vision data, we
recommend only adding vision measurements that are already within one meter or so of the current pose estimate.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>visionRobotPoseMeters</code> - The pose of the robot as measured by the vision camera.</dd>
<dd><code>timestampSeconds</code> - The timestamp of the vision measurement in seconds. Note that if you don't use your
own time source by calling
<code>SwerveDrivePoseEstimator.updateWithTime(double, Rotation2d, SwerveModulePosition[])</code> then you must use a timestamp with an epoch since FPGA
startup (i.e., the epoch of this timestamp is the same epoch as
<code>Timer.getFPGATimestamp()</code>.) This means that you should
use <code>Timer.getFPGATimestamp()</code> as your time source or sync
the epochs.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)">
<h3>addVisionMeasurement</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addVisionMeasurement</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d&nbsp;visionRobotPoseMeters,
double&nbsp;timestampSeconds,
edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;&nbsp;visionMeasurementStdDevs)</span></div>
<div class="block">Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate while still accounting
for measurement noise.
<p>This method can be called as infrequently as you want, as long as you are calling <code>SwerveDrivePoseEstimator.update(edu.wpi.first.math.geometry.Rotation2d, edu.wpi.first.math.kinematics.SwerveModulePosition[])</code> every loop.
<p>To promote stability of the pose estimate and make it robust to bad vision data, we
recommend only adding vision measurements that are already within one meter or so of the current pose estimate.
<p>Note that the vision measurement standard deviations passed into this method will continue
to apply to future measurements until a subsequent call to
<code>SwerveDrivePoseEstimator.setVisionMeasurementStdDevs(Matrix)</code> or this method.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>visionRobotPoseMeters</code> - The pose of the robot as measured by the vision camera.</dd>
<dd><code>timestampSeconds</code> - The timestamp of the vision measurement in seconds. Note that if you don't use your
own time source by calling
<code>SwerveDrivePoseEstimator.updateWithTime(double, Rotation2d, SwerveModulePosition[])</code>, then you must use a timestamp with an epoch since FPGA
startup (i.e., the epoch of this timestamp is the same epoch as
<code>Timer.getFPGATimestamp()</code>). This means that you should
use <code>Timer.getFPGATimestamp()</code> as your time source in
this case.</dd>
<dd><code>visionMeasurementStdDevs</code> - Standard deviations of the vision pose measurement (x position in meters, y
position in meters, and heading in radians). Increase these numbers to trust the
vision pose measurement less.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="update(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>update</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Pose2d</span>&nbsp;<span class="element-name">update</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
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">Updates the pose estimator with wheel encoder and gyro information. This should be called every loop.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>gyroAngle</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 current distance measurements and rotations of the swerve modules.</dd>
<dt>Returns:</dt>
<dd>The estimated pose of the robot in meters.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="updateWithTime(double,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>updateWithTime</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Pose2d</span>&nbsp;<span class="element-name">updateWithTime</span><wbr><span class="parameters">(double&nbsp;currentTimeSeconds,
edu.wpi.first.math.geometry.Rotation2d&nbsp;gyroAngle,
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">Updates the pose estimator with wheel encoder and gyro information. This should be called every loop.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>currentTimeSeconds</code> - Time at which this method was called, in seconds.</dd>
<dd><code>gyroAngle</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 current distance measurements and rotations of the swerve modules.</dd>
<dt>Returns:</dt>
<dd>The estimated pose of the robot in meters.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
</section>
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