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[wpimath] Add TimeInterpolatableBuffer (#2695)

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These classes are useful for storing previous robot positions to use in conjunction with the upcoming pose estimators.

Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: cttew <cttewari@gmail.com>
This commit is contained in:
Matt
2021-12-30 20:08:05 -07:00
committed by GitHub
parent b8d019cdb4
commit 315be873c4
14 changed files with 485 additions and 20 deletions
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13
wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
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@@ -84,4 +84,17 @@ public final class MathUtil {
public static double angleModulus(double angleRadians) {
return inputModulus(angleRadians, -Math.PI, Math.PI);
}
/**
* Perform linear interpolation between two values.
*
* @param startValue The value to start at.
* @param endValue The value to end at.
* @param t How far between the two values to interpolate. This is clamped to [0, 1].
* @return The interpolated value.
*/
@SuppressWarnings("ParameterName")
public static double interpolate(double startValue, double endValue, double t) {
return startValue + (endValue - startValue) * MathUtil.clamp(t, 0, 1);
}
}