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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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10
wpimath/src/main/native/include/frc/geometry/Twist2d.h
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@@ -53,5 +53,15 @@ struct WPILIB_DLLEXPORT Twist2d {
* @return Whether the two objects are not equal.
*/
bool operator!=(const Twist2d& other) const { return !operator==(other); }
/**
* Scale this by a given factor.
*
* @param factor The factor by which to scale.
* @return The scaled Twist2d.
*/
Twist2d operator*(double factor) {
return Twist2d{dx * factor, dy * factor, dtheta * factor};
}
};
} // namespace frc