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[wpimath] Change kinematics.ToTwist2d(end - start) to kinematics.ToTwist2d(start, end) (#5493)

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This commit is contained in:
Joseph Eng
2023-08-01 22:25:26 -07:00
committed by GitHub
parent 815a8403e5
commit 0c93aded8a
23 changed files with 98 additions and 133 deletions
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14
wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
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@@ -35,20 +35,6 @@ struct WPILIB_DLLEXPORT SwerveModulePosition {
*/
bool operator==(const SwerveModulePosition& other) const;
/**
* Calculates the difference between two swerve module positions. The
* difference has a length equal to the difference in lengths and an angle
* equal to the ending angle (this module position's angle). This is suitable
* for representing a module's motion between two timesteps, because the final
* angle describes the direction the module moved.
*
* @param other The other swerve module position to subtract.
* @return The difference.
*/
SwerveModulePosition operator-(const SwerveModulePosition& other) const {
return {distance - other.distance, angle};
}
SwerveModulePosition Interpolate(const SwerveModulePosition& endValue,
double t) const {
return {wpi::Lerp(distance, endValue.distance, t),