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wpimath/src/main/native/include/wpi/math/kinematics/SwerveModulePosition.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <wpi/MathExtras.h>
+#include <wpi/SymbolExports.h>
+
+#include "frc/geometry/Rotation2d.h"
+#include "units/length.h"
+#include "units/math.h"
+
+namespace frc {
+/**
+ * Represents the position of one swerve module.
+ */
+struct WPILIB_DLLEXPORT SwerveModulePosition {
+  /**
+   * Distance the wheel of a module has traveled
+   */
+  units::meter_t distance = 0_m;
+
+  /**
+   * Angle of the module.
+   */
+  Rotation2d angle;
+
+  /**
+   * Checks equality between this SwerveModulePosition and another object.
+   *
+   * @param other The other object.
+   * @return Whether the two objects are equal.
+   */
+  constexpr bool operator==(const SwerveModulePosition& other) const {
+    return units::math::abs(distance - other.distance) < 1E-9_m &&
+           angle == other.angle;
+  }
+
+  constexpr SwerveModulePosition Interpolate(
+      const SwerveModulePosition& endValue, double t) const {
+    return {wpi::Lerp(distance, endValue.distance, t),
+            wpi::Lerp(angle, endValue.angle, t)};
+  }
+};
+}  // namespace frc
+
+#include "frc/kinematics/proto/SwerveModulePositionProto.h"
+#include "frc/kinematics/struct/SwerveModulePositionStruct.h"