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[wpiunits] Java units API rewrite (#6958)

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Java generics are too limited to do what we need. This refactors generic code previously in Unit and Measure into unit-specific classes that can have unit-safe math operations (notably, times and divide) that can return values in known units instead of a wildcarded Measure<?>.

Unit-specific measure implementations are automatically generated by ./wpiunits/generate_units.py, which generates generic interfaces and mutable and immutable implementations of those interfaces. These make up the bulk of the diff of this PR (approximately 9300 LOC).

This also adds units for angular and linear velocities, accelerations, and momenta; moment of inertia; and torque.
This commit is contained in:
Sam Carlberg
2024-09-07 13:59:29 -04:00
committed by GitHub
parent 496e7c1bba
commit a9b885070e
178 changed files with 14750 additions and 2158 deletions
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2
.github/workflows/pregenerate.yml vendored
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@@ -32,6 +32,8 @@ jobs:
run: ./ntcore/generate_topics.py
- name: Run wpimath
run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py --quickbuf_plugin=protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
- name: Run wpiunits
run: ./wpiunits/generate_units.py
- name: Run HIDs
run: ./wpilibj/generate_hids.py && ./wpilibc/generate_hids.py && ./wpilibNewCommands/generate_hids.py
- name: Run PWM Controllers

5
docs/build.gradle
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@@ -203,7 +203,10 @@ task generateJavaDocs(type: Javadoc) {
"-edu.wpi.first.math.system.struct," +
"-edu.wpi.first.math.system.plant.proto," +
"-edu.wpi.first.math.system.plant.struct," +
"-edu.wpi.first.math.trajectory.proto", true)
"-edu.wpi.first.math.trajectory.proto," +
// The .measure package contains generated source files for which automatic javadoc
// generation is very difficult to do meaningfully.
"-edu.wpi.first.units.measure", true)
options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
options.addBooleanOption('html5', true)
options.linkSource(true)

7
epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
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@@ -9,8 +9,7 @@ import edu.wpi.first.epilogue.logging.NTDataLogger;
import edu.wpi.first.epilogue.logging.errors.ErrorHandler;
import edu.wpi.first.epilogue.logging.errors.ErrorPrinter;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Time;
import edu.wpi.first.units.measure.Time;
/**
* A configuration object to be used by the generated {@code Epilogue} class to customize its
@@ -29,13 +28,13 @@ public class EpilogueConfiguration {
* The period Epilogue will log at. By default this is the period that the robot runs at. This is
* the field used by bind to configure speed when adding the periodic logging function
*/
public Measure<Time> loggingPeriod;
public Time loggingPeriod;
/**
* The offset from the periodic run that Epilogue will log at. By default this will be half of the
* robots period. This is the field used by bind when adding the periodic logging function
*/
public Measure<Time> loggingPeriodOffset;
public Time loggingPeriodOffset;
/**
* The minimum importance level of data to be logged. Defaults to debug, which logs data of all

2
epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/DataLogger.java
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@@ -211,7 +211,7 @@ public interface DataLogger {
* @param unit the unit to log the measurement in
* @param <U> the dimension of the unit
*/
default <U extends Unit<U>> void log(String identifier, Measure<U> value, U unit) {
default <U extends Unit> void log(String identifier, Measure<U> value, U unit) {
log(identifier, value.in(unit));
}

2
styleguide/checkstyle-suppressions.xml
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@@ -14,4 +14,6 @@ suppressions PUBLIC "-//Puppy Crawl//DTD Suppressions 1.1//EN"
checks="(CustomImportOrder|EmptyLineSeparator|LineLength|JavadocParagraph|MissingJavadocMethod|OverloadMethodsDeclarationOrder|SummaryJavadoc|UnnecessaryParentheses|OperatorWrap|JavadocMethod|JavadocTagContinuationIndentation)" />
<suppress files="wpilibj[/\\]src[/\\]generated.*"
checks="MethodName" />
<!-- Disable checkstyle for generated unit files -->
<suppress files="wpiunits[/\\]src[/\\]generated.*" checks=".*"/>
</suppressions>

9
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
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@@ -4,11 +4,10 @@
package edu.wpi.first.wpilibj2.command;
import static edu.wpi.first.units.Units.Second;
import static edu.wpi.first.units.Units.Seconds;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Time;
import edu.wpi.first.units.measure.Time;
import edu.wpi.first.util.function.BooleanConsumer;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
@@ -179,8 +178,8 @@ public abstract class Command implements Sendable {
* @param time the timeout duration
* @return the command with the timeout added
*/
public ParallelRaceGroup withTimeout(Measure<Time> time) {
return withTimeout(time.in(Second));
public ParallelRaceGroup withTimeout(Time time) {
return withTimeout(time.in(Seconds));
}
/**

5
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
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@@ -6,8 +6,7 @@ package edu.wpi.first.wpilibj2.command;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Time;
import edu.wpi.first.units.measure.Time;
import java.util.Map;
import java.util.Set;
import java.util.function.BooleanSupplier;
@@ -137,7 +136,7 @@ public final class Commands {
* @return the command
* @see WaitCommand
*/
public static Command waitTime(Measure<Time> time) {
public static Command waitTime(Time time) {
return new WaitCommand(time);
}

28
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
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@@ -19,9 +19,7 @@ import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.MutableMeasure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.measure.MutLinearVelocity;
import edu.wpi.first.wpilibj.Timer;
import java.util.function.Consumer;
import java.util.function.Supplier;
@@ -60,22 +58,14 @@ public class MecanumControllerCommand extends Command {
private final Supplier<MecanumDriveWheelSpeeds> m_currentWheelSpeeds;
private final Consumer<MecanumDriveMotorVoltages> m_outputDriveVoltages;
private final Consumer<MecanumDriveWheelSpeeds> m_outputWheelSpeeds;
private final MutableMeasure<Velocity<Distance>> m_prevFrontLeftSpeedSetpoint =
MutableMeasure.zero(MetersPerSecond);
private final MutableMeasure<Velocity<Distance>> m_prevRearLeftSpeedSetpoint =
MutableMeasure.zero(MetersPerSecond);
private final MutableMeasure<Velocity<Distance>> m_prevFrontRightSpeedSetpoint =
MutableMeasure.zero(MetersPerSecond);
private final MutableMeasure<Velocity<Distance>> m_prevRearRightSpeedSetpoint =
MutableMeasure.zero(MetersPerSecond);
private final MutableMeasure<Velocity<Distance>> m_frontLeftSpeedSetpoint =
MutableMeasure.zero(MetersPerSecond);
private final MutableMeasure<Velocity<Distance>> m_rearLeftSpeedSetpoint =
MutableMeasure.zero(MetersPerSecond);
private final MutableMeasure<Velocity<Distance>> m_frontRightSpeedSetpoint =
MutableMeasure.zero(MetersPerSecond);
private final MutableMeasure<Velocity<Distance>> m_rearRightSpeedSetpoint =
MutableMeasure.zero(MetersPerSecond);
private final MutLinearVelocity m_prevFrontLeftSpeedSetpoint = MetersPerSecond.mutable(0);
private final MutLinearVelocity m_prevRearLeftSpeedSetpoint = MetersPerSecond.mutable(0);
private final MutLinearVelocity m_prevFrontRightSpeedSetpoint = MetersPerSecond.mutable(0);
private final MutLinearVelocity m_prevRearRightSpeedSetpoint = MetersPerSecond.mutable(0);
private final MutLinearVelocity m_frontLeftSpeedSetpoint = MetersPerSecond.mutable(0);
private final MutLinearVelocity m_rearLeftSpeedSetpoint = MetersPerSecond.mutable(0);
private final MutLinearVelocity m_frontRightSpeedSetpoint = MetersPerSecond.mutable(0);
private final MutLinearVelocity m_rearRightSpeedSetpoint = MetersPerSecond.mutable(0);
/**
* Constructs a new MecanumControllerCommand that when executed will follow the provided

16
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
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@@ -16,9 +16,7 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.MutableMeasure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.measure.MutLinearVelocity;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.Timer;
import java.util.function.BiConsumer;
@@ -51,14 +49,10 @@ public class RamseteCommand extends Command {
private final PIDController m_rightController;
private final BiConsumer<Double, Double> m_output;
private DifferentialDriveWheelSpeeds m_prevSpeeds = new DifferentialDriveWheelSpeeds();
private final MutableMeasure<Velocity<Distance>> m_prevLeftSpeedSetpoint =
MutableMeasure.zero(MetersPerSecond);
private final MutableMeasure<Velocity<Distance>> m_prevRightSpeedSetpoint =
MutableMeasure.zero(MetersPerSecond);
private final MutableMeasure<Velocity<Distance>> m_leftSpeedSetpoint =
MutableMeasure.zero(MetersPerSecond);
private final MutableMeasure<Velocity<Distance>> m_rightSpeedSetpoint =
MutableMeasure.zero(MetersPerSecond);
private final MutLinearVelocity m_prevLeftSpeedSetpoint = MetersPerSecond.mutable(0);
private final MutLinearVelocity m_prevRightSpeedSetpoint = MetersPerSecond.mutable(0);
private final MutLinearVelocity m_leftSpeedSetpoint = MetersPerSecond.mutable(0);
private final MutLinearVelocity m_rightSpeedSetpoint = MetersPerSecond.mutable(0);
private double m_prevTime;
/**

9
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
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@@ -4,10 +4,9 @@
package edu.wpi.first.wpilibj2.command;
import static edu.wpi.first.units.Units.Second;
import static edu.wpi.first.units.Units.Seconds;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Time;
import edu.wpi.first.units.measure.Time;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.Timer;
@@ -39,8 +38,8 @@ public class WaitCommand extends Command {
*
* @param time the time to wait
*/
public WaitCommand(Measure<Time> time) {
this(time.in(Second));
public WaitCommand(Time time) {
this(time.in(Seconds));
}
@Override

40
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java
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@@ -4,17 +4,16 @@
package edu.wpi.first.wpilibj2.command.sysid;
import static edu.wpi.first.units.MutableMeasure.mutable;
import static edu.wpi.first.units.Units.Second;
import static edu.wpi.first.units.Units.Seconds;
import static edu.wpi.first.units.Units.Volts;
import static java.util.Map.entry;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.MutableMeasure;
import edu.wpi.first.units.Time;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.Voltage;
import edu.wpi.first.units.VoltageUnit;
import edu.wpi.first.units.measure.MutVoltage;
import edu.wpi.first.units.measure.Time;
import edu.wpi.first.units.measure.Velocity;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
import edu.wpi.first.wpilibj2.command.Command;
@@ -43,7 +42,7 @@ import java.util.function.Consumer;
public class SysIdRoutine extends SysIdRoutineLog {
private final Config m_config;
private final Mechanism m_mechanism;
private final MutableMeasure<Voltage> m_outputVolts = mutable(Volts.of(0));
private final MutVoltage m_outputVolts = Volts.mutable(0);
private final Consumer<State> m_recordState;
/**
@@ -62,13 +61,13 @@ public class SysIdRoutine extends SysIdRoutineLog {
/** Hardware-independent configuration for a SysId test routine. */
public static class Config {
/** The voltage ramp rate used for quasistatic test routines. */
public final Measure<Velocity<Voltage>> m_rampRate;
public final Velocity<VoltageUnit> m_rampRate;
/** The step voltage output used for dynamic test routines. */
public final Measure<Voltage> m_stepVoltage;
public final Voltage m_stepVoltage;
/** Safety timeout for the test routine commands. */
public final Measure<Time> m_timeout;
public final Time m_timeout;
/** Optional handle for recording test state in a third-party logging solution. */
public final Consumer<State> m_recordState;
@@ -87,11 +86,11 @@ public class SysIdRoutine extends SysIdRoutineLog {
* logged in WPILog.
*/
public Config(
Measure<Velocity<Voltage>> rampRate,
Measure<Voltage> stepVoltage,
Measure<Time> timeout,
Velocity<VoltageUnit> rampRate,
Voltage stepVoltage,
Time timeout,
Consumer<State> recordState) {
m_rampRate = rampRate != null ? rampRate : Volts.of(1).per(Seconds.of(1));
m_rampRate = rampRate != null ? rampRate : Volts.of(1).per(Second);
m_stepVoltage = stepVoltage != null ? stepVoltage : Volts.of(7);
m_timeout = timeout != null ? timeout : Seconds.of(10);
m_recordState = recordState;
@@ -107,8 +106,7 @@ public class SysIdRoutine extends SysIdRoutineLog {
* @param timeout Safety timeout for the test routine commands. Defaults to 10 seconds if left
* null.
*/
public Config(
Measure<Velocity<Voltage>> rampRate, Measure<Voltage> stepVoltage, Measure<Time> timeout) {
public Config(Velocity<VoltageUnit> rampRate, Voltage stepVoltage, Time timeout) {
this(rampRate, stepVoltage, timeout, null);
}
@@ -132,7 +130,7 @@ public class SysIdRoutine extends SysIdRoutineLog {
*/
public static class Mechanism {
/** Sends the SysId-specified drive signal to the mechanism motors during test routines. */
public final Consumer<Measure<Voltage>> m_drive;
public final Consumer<? super Voltage> m_drive;
/**
* Returns measured data (voltages, positions, velocities) of the mechanism motors during test
@@ -163,10 +161,7 @@ public class SysIdRoutine extends SysIdRoutineLog {
* the subsystem if left null.
*/
public Mechanism(
Consumer<Measure<Voltage>> drive,
Consumer<SysIdRoutineLog> log,
Subsystem subsystem,
String name) {
Consumer<Voltage> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem, String name) {
m_drive = drive;
m_log = log != null ? log : l -> {};
m_subsystem = subsystem;
@@ -189,8 +184,7 @@ public class SysIdRoutine extends SysIdRoutineLog {
* will be appended to the log entry title for the routine's test state, e.g.
* "sysid-test-state-subsystem".
*/
public Mechanism(
Consumer<Measure<Voltage>> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem) {
public Mechanism(Consumer<Voltage> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem) {
this(drive, log, subsystem, null);
}
}

5
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutineTest.java
View File

@@ -14,8 +14,7 @@ import static org.mockito.Mockito.never;
import static org.mockito.Mockito.verify;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Voltage;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
import edu.wpi.first.wpilibj2.command.Command;
@@ -28,7 +27,7 @@ class SysIdRoutineTest {
interface Mechanism extends Subsystem {
void recordState(SysIdRoutineLog.State state);
void drive(Measure<Voltage> voltage);
void drive(Voltage voltage);
void log(SysIdRoutineLog log);
}

37
wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
View File

@@ -10,12 +10,12 @@ import static edu.wpi.first.units.Units.Microseconds;
import static edu.wpi.first.units.Units.Value;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.units.Dimensionless;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Time;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.collections.LongToObjectHashMap;
import edu.wpi.first.units.measure.Dimensionless;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.Frequency;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.units.measure.Time;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.util.Color;
import java.util.Map;
@@ -99,9 +99,9 @@ public interface LEDPattern {
*
* <p>This method is intentionally designed to use separate objects for reading and writing data.
* By splitting them up, we can easily modify the behavior of some base pattern to make it {@link
* #scrollAtRelativeSpeed(Measure) scroll}, {@link #blink(Measure, Measure) blink}, or {@link
* #breathe(Measure) breathe} by intercepting the data writes to transform their behavior to
* whatever we like.
* #scrollAtRelativeSpeed(Frequency) scroll}, {@link #blink(Time, Time) blink}, or {@link
* #breathe(Time) breathe} by intercepting the data writes to transform their behavior to whatever
* we like.
*
* @param reader data reader for accessing buffer length and current colors
* @param writer data writer for setting new LED colors on the buffer
@@ -186,8 +186,8 @@ public interface LEDPattern {
* scroll along the length of LEDs and return back to the starting position
* @return the scrolling pattern
*/
default LEDPattern scrollAtRelativeSpeed(Measure<Velocity<Dimensionless>> velocity) {
final double periodMicros = 1 / velocity.in(Value.per(Microsecond));
default LEDPattern scrollAtRelativeSpeed(Frequency velocity) {
final double periodMicros = velocity.asPeriod().in(Microseconds);
return (reader, writer) -> {
int bufLen = reader.getLength();
@@ -217,7 +217,7 @@ public interface LEDPattern {
*
* <pre>
* // LEDs per meter, a known value taken from the spec sheet of our particular LED strip
* Measure&lt;Distance&gt; LED_SPACING = Meters.of(1.0 / 60);
* Distance LED_SPACING = Meters.of(1.0 / 60);
*
* LEDPattern rainbow = LEDPattern.rainbow();
* LEDPattern scrollingRainbow =
@@ -232,8 +232,7 @@ public interface LEDPattern {
* @param ledSpacing the distance between adjacent LEDs on the physical LED strip
* @return the scrolling pattern
*/
default LEDPattern scrollAtAbsoluteSpeed(
Measure<Velocity<Distance>> velocity, Measure<Distance> ledSpacing) {
default LEDPattern scrollAtAbsoluteSpeed(LinearVelocity velocity, Distance ledSpacing) {
// eg velocity = 10 m/s, spacing = 0.01m
// meters per micro = 1e-5 m/us
// micros per LED = 1e-2 m / (1e-5 m/us) = 1e-3 us
@@ -267,7 +266,7 @@ public interface LEDPattern {
* @param offTime how long the pattern should be turned off for, per cycle
* @return the blinking pattern
*/
default LEDPattern blink(Measure<Time> onTime, Measure<Time> offTime) {
default LEDPattern blink(Time onTime, Time offTime) {
final long totalTimeMicros = (long) (onTime.in(Microseconds) + offTime.in(Microseconds));
final long onTimeMicros = (long) onTime.in(Microseconds);
@@ -281,13 +280,13 @@ public interface LEDPattern {
}
/**
* Like {@link #blink(Measure, Measure) blink(onTime, offTime)}, but where the "off" time is
* exactly equal to the "on" time.
* Like {@link #blink(Time, Time) blink(onTime, offTime)}, but where the "off" time is exactly
* equal to the "on" time.
*
* @param onTime how long the pattern should play for (and be turned off for), per cycle
* @return the blinking pattern
*/
default LEDPattern blink(Measure<Time> onTime) {
default LEDPattern blink(Time onTime) {
return blink(onTime, onTime);
}
@@ -316,7 +315,7 @@ public interface LEDPattern {
* @param period how fast the breathing pattern should complete a single cycle
* @return the breathing pattern
*/
default LEDPattern breathe(Measure<Time> period) {
default LEDPattern breathe(Time period) {
final long periodMicros = (long) period.in(Microseconds);
return (reader, writer) -> {
@@ -444,7 +443,7 @@ public interface LEDPattern {
* @param relativeBrightness the multiplier to apply to all channels to modify brightness
* @return the input pattern, displayed at
*/
default LEDPattern atBrightness(Measure<Dimensionless> relativeBrightness) {
default LEDPattern atBrightness(Dimensionless relativeBrightness) {
double multiplier = relativeBrightness.in(Value);
return (reader, writer) -> {

7
wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
View File

@@ -11,8 +11,7 @@ import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.NotifierJNI;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Time;
import edu.wpi.first.units.measure.Time;
import java.util.PriorityQueue;
/**
@@ -199,7 +198,7 @@ public class TimedRobot extends IterativeRobotBase {
* @param callback The callback to run.
* @param period The period at which to run the callback.
*/
public final void addPeriodic(Runnable callback, Measure<Time> period) {
public final void addPeriodic(Runnable callback, Time period) {
addPeriodic(callback, period.in(Seconds));
}
@@ -214,7 +213,7 @@ public class TimedRobot extends IterativeRobotBase {
* @param offset The offset from the common starting time. This is useful for scheduling a
* callback in a different timeslot relative to TimedRobot.
*/
public final void addPeriodic(Runnable callback, Measure<Time> period, Measure<Time> offset) {
public final void addPeriodic(Runnable callback, Time period, Time offset) {
addPeriodic(callback, period.in(Seconds), offset.in(Seconds));
}
}

20
wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java
View File

@@ -4,6 +4,9 @@
package edu.wpi.first.wpilibj.motorcontrol;
import static edu.wpi.first.units.Units.Volts;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj.RobotController;
/** Interface for motor controlling devices. */
@@ -24,12 +27,27 @@ public interface MotorController {
* <p>NOTE: This function *must* be called regularly in order for voltage compensation to work
* properly - unlike the ordinary set function, it is not "set it and forget it."
*
* @param outputVolts The voltage to output.
* @param outputVolts The voltage to output, in Volts.
*/
default void setVoltage(double outputVolts) {
set(outputVolts / RobotController.getBatteryVoltage());
}
/**
* Sets the voltage output of the MotorController. Compensates for the current bus voltage to
* ensure that the desired voltage is output even if the battery voltage is below 12V - highly
* useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward
* calculation).
*
* <p>NOTE: This function *must* be called regularly in order for voltage compensation to work
* properly - unlike the ordinary set function, it is not "set it and forget it."
*
* @param outputVoltage The voltage to output.
*/
default void setVoltage(Voltage outputVoltage) {
setVoltage(outputVoltage.in(Volts));
}
/**
* Common interface for getting the current set speed of a motor controller.
*

18
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
View File

@@ -13,10 +13,10 @@ import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.units.Angle;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.MutableMeasure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.measure.AngularAcceleration;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.MutAngularAcceleration;
import edu.wpi.first.units.measure.MutAngularVelocity;
import edu.wpi.first.wpilibj.RobotController;
/** Represents a simulated flywheel mechanism. */
@@ -31,12 +31,10 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
private final double m_jKgMetersSquared;
// The angular velocity of the system.
private final MutableMeasure<Velocity<Angle>> m_angularVelocity =
MutableMeasure.zero(RadiansPerSecond);
private final MutAngularVelocity m_angularVelocity = RadiansPerSecond.mutable(0);
// The angular acceleration of the system.
private final MutableMeasure<Velocity<Velocity<Angle>>> m_angularAcceleration =
MutableMeasure.zero(RadiansPerSecondPerSecond);
private final MutAngularAcceleration m_angularAcceleration = RadiansPerSecondPerSecond.mutable(0);
/**
* Creates a simulated flywheel mechanism.
@@ -133,7 +131,7 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
*
* @return The flywheel's velocity
*/
public Measure<Velocity<Angle>> getAngularVelocity() {
public AngularVelocity getAngularVelocity() {
m_angularVelocity.mut_setMagnitude(getAngularVelocityRadPerSec());
return m_angularVelocity;
}
@@ -153,7 +151,7 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
*
* @return The flywheel's acceleration.
*/
public Measure<Velocity<Velocity<Angle>>> getAngularAcceleration() {
public AngularAcceleration getAngularAcceleration() {
m_angularAcceleration.mut_setMagnitude(getAngularAccelerationRadPerSecSq());
return m_angularAcceleration;
}

30
wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java
View File

@@ -12,12 +12,14 @@ import static edu.wpi.first.units.Units.RotationsPerSecond;
import static edu.wpi.first.units.Units.Second;
import static edu.wpi.first.units.Units.Volts;
import edu.wpi.first.units.Angle;
import edu.wpi.first.units.Current;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.Voltage;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularAcceleration;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.LinearAcceleration;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.util.datalog.DoubleLogEntry;
import edu.wpi.first.util.datalog.StringLogEntry;
import edu.wpi.first.wpilibj.DataLogManager;
@@ -114,7 +116,7 @@ public class SysIdRoutineLog {
* @param voltage The voltage to record.
* @return The motor log (for call chaining).
*/
public MotorLog voltage(Measure<Voltage> voltage) {
public MotorLog voltage(Voltage voltage) {
return value("voltage", voltage.in(Volts), Volts.name());
}
@@ -124,7 +126,7 @@ public class SysIdRoutineLog {
* @param position The linear position to record.
* @return The motor log (for call chaining).
*/
public MotorLog linearPosition(Measure<Distance> position) {
public MotorLog linearPosition(Distance position) {
return value("position", position.in(Meters), Meters.name());
}
@@ -134,7 +136,7 @@ public class SysIdRoutineLog {
* @param position The angular position to record.
* @return The motor log (for call chaining).
*/
public MotorLog angularPosition(Measure<Angle> position) {
public MotorLog angularPosition(Angle position) {
return value("position", position.in(Rotations), Rotations.name());
}
@@ -144,7 +146,7 @@ public class SysIdRoutineLog {
* @param velocity The linear velocity to record.
* @return The motor log (for call chaining).
*/
public MotorLog linearVelocity(Measure<Velocity<Distance>> velocity) {
public MotorLog linearVelocity(LinearVelocity velocity) {
return value("velocity", velocity.in(MetersPerSecond), MetersPerSecond.name());
}
@@ -154,7 +156,7 @@ public class SysIdRoutineLog {
* @param velocity The angular velocity to record.
* @return The motor log (for call chaining).
*/
public MotorLog angularVelocity(Measure<Velocity<Angle>> velocity) {
public MotorLog angularVelocity(AngularVelocity velocity) {
return value("velocity", velocity.in(RotationsPerSecond), RotationsPerSecond.name());
}
@@ -166,7 +168,7 @@ public class SysIdRoutineLog {
* @param acceleration The linear acceleration to record.
* @return The motor log (for call chaining).
*/
public MotorLog linearAcceleration(Measure<Velocity<Velocity<Distance>>> acceleration) {
public MotorLog linearAcceleration(LinearAcceleration acceleration) {
return value(
"acceleration",
acceleration.in(MetersPerSecond.per(Second)),
@@ -181,7 +183,7 @@ public class SysIdRoutineLog {
* @param acceleration The angular acceleration to record.
* @return The motor log (for call chaining).
*/
public MotorLog angularAcceleration(Measure<Velocity<Velocity<Angle>>> acceleration) {
public MotorLog angularAcceleration(AngularAcceleration acceleration) {
return value(
"acceleration",
acceleration.in(RotationsPerSecond.per(Second)),
@@ -196,7 +198,7 @@ public class SysIdRoutineLog {
* @param current The current to record.
* @return The motor log (for call chaining).
*/
public MotorLog current(Measure<Current> current) {
public MotorLog current(Current current) {
value("current", current.in(Amps), Amps.name());
return this;
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/LEDPatternTest.java
View File

@@ -745,7 +745,7 @@ class LEDPatternTest {
@Test
void zeroBrightness() {
var pattern = LEDPattern.solid(kRed).atBrightness(Percent.zero());
var pattern = LEDPattern.solid(kRed).atBrightness(Percent.of(0));
var buffer = new AddressableLEDBuffer(1);
pattern.applyTo(buffer);

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
View File

@@ -7,8 +7,7 @@ package edu.wpi.first.wpilibj.examples.addressableled;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.wpilibj.AddressableLED;
import edu.wpi.first.wpilibj.AddressableLEDBuffer;
import edu.wpi.first.wpilibj.LEDPattern;
@@ -23,7 +22,7 @@ public class Robot extends TimedRobot {
private final LEDPattern m_rainbow = LEDPattern.rainbow(255, 128);
// Our LED strip has a density of 120 LEDs per meter
private static final Measure<Distance> kLedSpacing = Meters.of(1 / 120.0);
private static final Distance kLedSpacing = Meters.of(1 / 120.0);
// Create a new pattern that scrolls the rainbow pattern across the LED strip, moving at a speed
// of 1 meter per second.

21
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Drive.java
View File

@@ -4,16 +4,13 @@
package edu.wpi.first.wpilibj.examples.sysid.subsystems;
import static edu.wpi.first.units.MutableMeasure.mutable;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.Volts;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.MutableMeasure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.Voltage;
import edu.wpi.first.units.measure.MutDistance;
import edu.wpi.first.units.measure.MutLinearVelocity;
import edu.wpi.first.units.measure.MutVoltage;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -50,11 +47,11 @@ public class Drive extends SubsystemBase {
DriveConstants.kRightEncoderReversed);
// Mutable holder for unit-safe voltage values, persisted to avoid reallocation.
private final MutableMeasure<Voltage> m_appliedVoltage = mutable(Volts.of(0));
private final MutVoltage m_appliedVoltage = Volts.mutable(0);
// Mutable holder for unit-safe linear distance values, persisted to avoid reallocation.
private final MutableMeasure<Distance> m_distance = mutable(Meters.of(0));
private final MutDistance m_distance = Meters.mutable(0);
// Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation.
private final MutableMeasure<Velocity<Distance>> m_velocity = mutable(MetersPerSecond.of(0));
private final MutLinearVelocity m_velocity = MetersPerSecond.mutable(0);
// Create a new SysId routine for characterizing the drive.
private final SysIdRoutine m_sysIdRoutine =
@@ -63,9 +60,9 @@ public class Drive extends SubsystemBase {
new SysIdRoutine.Config(),
new SysIdRoutine.Mechanism(
// Tell SysId how to plumb the driving voltage to the motors.
(Measure<Voltage> volts) -> {
m_leftMotor.setVoltage(volts.in(Volts));
m_rightMotor.setVoltage(volts.in(Volts));
voltage -> {
m_leftMotor.setVoltage(voltage);
m_rightMotor.setVoltage(voltage);
},
// Tell SysId how to record a frame of data for each motor on the mechanism being
// characterized.

21
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Shooter.java
View File

@@ -4,18 +4,17 @@
package edu.wpi.first.wpilibj.examples.sysid.subsystems;
import static edu.wpi.first.units.MutableMeasure.mutable;
import static edu.wpi.first.units.Units.Radians;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import static edu.wpi.first.units.Units.Volts;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.units.Angle;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.MutableMeasure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.Voltage;
import edu.wpi.first.units.measure.MutAngle;
import edu.wpi.first.units.measure.MutAngularVelocity;
import edu.wpi.first.units.measure.MutVoltage;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.examples.sysid.Constants.ShooterConstants;
@@ -40,11 +39,11 @@ public class Shooter extends SubsystemBase {
ShooterConstants.kEncoderReversed);
// Mutable holder for unit-safe voltage values, persisted to avoid reallocation.
private final MutableMeasure<Voltage> m_appliedVoltage = mutable(Volts.of(0));
private final MutVoltage m_appliedVoltage = Volts.mutable(0);
// Mutable holder for unit-safe linear distance values, persisted to avoid reallocation.
private final MutableMeasure<Angle> m_angle = mutable(Rotations.of(0));
private final MutAngle m_angle = Radians.mutable(0);
// Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation.
private final MutableMeasure<Velocity<Angle>> m_velocity = mutable(RotationsPerSecond.of(0));
private final MutAngularVelocity m_velocity = RadiansPerSecond.mutable(0);
// Create a new SysId routine for characterizing the shooter.
private final SysIdRoutine m_sysIdRoutine =
@@ -53,9 +52,7 @@ public class Shooter extends SubsystemBase {
new SysIdRoutine.Config(),
new SysIdRoutine.Mechanism(
// Tell SysId how to plumb the driving voltage to the motor(s).
(Measure<Voltage> volts) -> {
m_shooterMotor.setVoltage(volts.in(Volts));
},
m_shooterMotor::setVoltage,
// Tell SysId how to record a frame of data for each motor on the mechanism being
// characterized.
log -> {

12
wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
View File

@@ -9,9 +9,10 @@ import static edu.wpi.first.units.Units.Volts;
import edu.wpi.first.math.controller.proto.SimpleMotorFeedforwardProto;
import edu.wpi.first.math.controller.struct.SimpleMotorFeedforwardStruct;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.PerUnit;
import edu.wpi.first.units.TimeUnit;
import edu.wpi.first.units.Unit;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.Voltage;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
@@ -156,7 +157,7 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
* @param setpoint The velocity setpoint.
* @return The computed feedforward.
*/
public <U extends Unit<U>> Measure<Voltage> calculate(Measure<Velocity<U>> setpoint) {
public <U extends Unit> Voltage calculate(Measure<? extends PerUnit<U, TimeUnit>> setpoint) {
return calculate(setpoint, setpoint);
}
@@ -168,8 +169,9 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
* @param nextVelocity The next velocity setpoint.
* @return The computed feedforward.
*/
public <U extends Unit<U>> Measure<Voltage> calculate(
Measure<Velocity<U>> currentVelocity, Measure<Velocity<U>> nextVelocity) {
public <U extends Unit> Voltage calculate(
Measure<? extends PerUnit<U, TimeUnit>> currentVelocity,
Measure<? extends PerUnit<U, TimeUnit>> nextVelocity) {
if (ka == 0.0) {
// Given the following discrete feedforward model
//

5
wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
View File

@@ -13,8 +13,7 @@ import com.fasterxml.jackson.annotation.JsonProperty;
import edu.wpi.first.math.geometry.proto.Pose2dProto;
import edu.wpi.first.math.geometry.struct.Pose2dStruct;
import edu.wpi.first.math.interpolation.Interpolatable;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
import java.util.Collections;
@@ -76,7 +75,7 @@ public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, Str
* @param y The y component of the translational component of the pose.
* @param rotation The rotational component of the pose.
*/
public Pose2d(Measure<Distance> x, Measure<Distance> y, Rotation2d rotation) {
public Pose2d(Distance x, Distance y, Rotation2d rotation) {
this(x.in(Meters), y.in(Meters), rotation);
}

7
wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
View File

@@ -16,8 +16,7 @@ import edu.wpi.first.math.geometry.proto.Rotation2dProto;
import edu.wpi.first.math.geometry.struct.Rotation2dStruct;
import edu.wpi.first.math.interpolation.Interpolatable;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.units.Angle;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
import java.util.Objects;
@@ -130,7 +129,7 @@ public class Rotation2d
*
* @param angle The angle of the rotation.
*/
public Rotation2d(Measure<Angle> angle) {
public Rotation2d(Angle angle) {
this(angle.in(Radians));
}
@@ -244,7 +243,7 @@ public class Rotation2d
*
* @return The measure of the Rotation2d.
*/
public Measure<Angle> getMeasure() {
public Angle getMeasure() {
return Radians.of(getRadians());
}

5
wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java
View File

@@ -8,8 +8,7 @@ import static edu.wpi.first.units.Units.Meters;
import edu.wpi.first.math.geometry.proto.Transform2dProto;
import edu.wpi.first.math.geometry.struct.Transform2dStruct;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
import java.util.Objects;
@@ -75,7 +74,7 @@ public class Transform2d implements ProtobufSerializable, StructSerializable {
* @param y The y component of the translational component of the transform.
* @param rotation The rotational component of the transform.
*/
public Transform2d(Measure<Distance> x, Measure<Distance> y, Rotation2d rotation) {
public Transform2d(Distance x, Distance y, Rotation2d rotation) {
this(x.in(Meters), y.in(Meters), rotation);
}

5
wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
View File

@@ -17,8 +17,7 @@ import edu.wpi.first.math.geometry.proto.Translation2dProto;
import edu.wpi.first.math.geometry.struct.Translation2dStruct;
import edu.wpi.first.math.interpolation.Interpolatable;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
import java.util.Collections;
@@ -84,7 +83,7 @@ public class Translation2d
* @param x The x component of the translation.
* @param y The y component of the translation.
*/
public Translation2d(Measure<Distance> x, Measure<Distance> y) {
public Translation2d(Distance x, Distance y) {
this(x.in(Meters), y.in(Meters));
}

5
wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java
View File

@@ -17,8 +17,7 @@ import edu.wpi.first.math.geometry.proto.Translation3dProto;
import edu.wpi.first.math.geometry.struct.Translation3dStruct;
import edu.wpi.first.math.interpolation.Interpolatable;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
import java.util.Objects;
@@ -89,7 +88,7 @@ public class Translation3d
* @param y The y component of the translation.
* @param z The z component of the translation.
*/
public Translation3d(Measure<Distance> x, Measure<Distance> y, Measure<Distance> z) {
public Translation3d(Distance x, Distance y, Distance z) {
this(x.in(Meters), y.in(Meters), z.in(Meters));
}

28
wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
View File

@@ -14,11 +14,9 @@ import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Twist2d;
import edu.wpi.first.math.kinematics.proto.ChassisSpeedsProto;
import edu.wpi.first.math.kinematics.struct.ChassisSpeedsStruct;
import edu.wpi.first.units.Angle;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Time;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.units.measure.Time;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
import java.util.Objects;
@@ -72,10 +70,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
* @param vy Sideways velocity.
* @param omega Angular velocity.
*/
public ChassisSpeeds(
Measure<Velocity<Distance>> vx,
Measure<Velocity<Distance>> vy,
Measure<Velocity<Angle>> omega) {
public ChassisSpeeds(LinearVelocity vx, LinearVelocity vy, AngularVelocity omega) {
this(vx.in(MetersPerSecond), vy.in(MetersPerSecond), omega.in(RadiansPerSecond));
}
@@ -148,10 +143,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
* @return Discretized ChassisSpeeds.
*/
public static ChassisSpeeds discretize(
Measure<Velocity<Distance>> vx,
Measure<Velocity<Distance>> vy,
Measure<Velocity<Angle>> omega,
Measure<Time> dt) {
LinearVelocity vx, LinearVelocity vy, AngularVelocity omega, Time dt) {
return discretize(
vx.in(MetersPerSecond), vy.in(MetersPerSecond), omega.in(RadiansPerSecond), dt.in(Seconds));
}
@@ -219,10 +211,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
* @return ChassisSpeeds object representing the speeds in the robot's frame of reference.
*/
public static ChassisSpeeds fromFieldRelativeSpeeds(
Measure<Velocity<Distance>> vx,
Measure<Velocity<Distance>> vy,
Measure<Velocity<Angle>> omega,
Rotation2d robotAngle) {
LinearVelocity vx, LinearVelocity vy, AngularVelocity omega, Rotation2d robotAngle) {
return fromFieldRelativeSpeeds(
vx.in(MetersPerSecond), vy.in(MetersPerSecond), omega.in(RadiansPerSecond), robotAngle);
}
@@ -287,10 +276,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
* @return ChassisSpeeds object representing the speeds in the field's frame of reference.
*/
public static ChassisSpeeds fromRobotRelativeSpeeds(
Measure<Velocity<Distance>> vx,
Measure<Velocity<Distance>> vy,
Measure<Velocity<Angle>> omega,
Rotation2d robotAngle) {
LinearVelocity vx, LinearVelocity vy, AngularVelocity omega, Rotation2d robotAngle) {
return fromRobotRelativeSpeeds(
vx.in(MetersPerSecond), vy.in(MetersPerSecond), omega.in(RadiansPerSecond), robotAngle);
}

5
wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
View File

@@ -11,8 +11,7 @@ import edu.wpi.first.math.MathUsageId;
import edu.wpi.first.math.geometry.Twist2d;
import edu.wpi.first.math.kinematics.proto.DifferentialDriveKinematicsProto;
import edu.wpi.first.math.kinematics.struct.DifferentialDriveKinematicsStruct;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
@@ -58,7 +57,7 @@ public class DifferentialDriveKinematics
* between the left wheels and right wheels. However, the empirical value may be larger than
* the physical measured value due to scrubbing effects.
*/
public DifferentialDriveKinematics(Measure<Distance> trackWidth) {
public DifferentialDriveKinematics(Distance trackWidth) {
this(trackWidth.in(Meters));
}

14
wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry.java
View File

@@ -10,8 +10,7 @@ import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUsageId;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.measure.Distance;
/**
* Class for differential drive odometry. Odometry allows you to track the robot's position on the
@@ -55,8 +54,8 @@ public class DifferentialDriveOdometry extends Odometry<DifferentialDriveWheelPo
*/
public DifferentialDriveOdometry(
Rotation2d gyroAngle,
Measure<Distance> leftDistance,
Measure<Distance> rightDistance,
Distance leftDistance,
Distance rightDistance,
Pose2d initialPoseMeters) {
this(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), initialPoseMeters);
}
@@ -81,7 +80,7 @@ public class DifferentialDriveOdometry extends Odometry<DifferentialDriveWheelPo
* @param rightDistance The distance traveled by the right encoder.
*/
public DifferentialDriveOdometry(
Rotation2d gyroAngle, Measure<Distance> leftDistance, Measure<Distance> rightDistance) {
Rotation2d gyroAngle, Distance leftDistance, Distance rightDistance) {
this(gyroAngle, leftDistance, rightDistance, Pose2d.kZero);
}
@@ -119,10 +118,7 @@ public class DifferentialDriveOdometry extends Odometry<DifferentialDriveWheelPo
* @param poseMeters The position on the field that your robot is at.
*/
public void resetPosition(
Rotation2d gyroAngle,
Measure<Distance> leftDistance,
Measure<Distance> rightDistance,
Pose2d poseMeters) {
Rotation2d gyroAngle, Distance leftDistance, Distance rightDistance, Pose2d poseMeters) {
resetPosition(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), poseMeters);
}

5
wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
View File

@@ -10,8 +10,7 @@ import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.interpolation.Interpolatable;
import edu.wpi.first.math.kinematics.proto.DifferentialDriveWheelPositionsProto;
import edu.wpi.first.math.kinematics.struct.DifferentialDriveWheelPositionsStruct;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.measure.Distance;
import java.util.Objects;
/** Represents the wheel positions for a differential drive drivetrain. */
@@ -48,7 +47,7 @@ public class DifferentialDriveWheelPositions
* @param left Distance measured by the left side.
* @param right Distance measured by the right side.
*/
public DifferentialDriveWheelPositions(Measure<Distance> left, Measure<Distance> right) {
public DifferentialDriveWheelPositions(Distance left, Distance right) {
this(left.in(Meters), right.in(Meters));
}

9
wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
View File

@@ -8,9 +8,7 @@ import static edu.wpi.first.units.Units.MetersPerSecond;
import edu.wpi.first.math.kinematics.proto.DifferentialDriveWheelSpeedsProto;
import edu.wpi.first.math.kinematics.struct.DifferentialDriveWheelSpeedsStruct;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
@@ -50,8 +48,7 @@ public class DifferentialDriveWheelSpeeds implements ProtobufSerializable, Struc
* @param left The left speed.
* @param right The right speed.
*/
public DifferentialDriveWheelSpeeds(
Measure<Velocity<Distance>> left, Measure<Velocity<Distance>> right) {
public DifferentialDriveWheelSpeeds(LinearVelocity left, LinearVelocity right) {
this(left.in(MetersPerSecond), right.in(MetersPerSecond));
}
@@ -85,7 +82,7 @@ public class DifferentialDriveWheelSpeeds implements ProtobufSerializable, Struc
*
* @param attainableMaxSpeed The absolute max speed that a wheel can reach.
*/
public void desaturate(Measure<Velocity<Distance>> attainableMaxSpeed) {
public void desaturate(LinearVelocity attainableMaxSpeed) {
desaturate(attainableMaxSpeed.in(MetersPerSecond));
}

8
wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
View File

@@ -10,8 +10,7 @@ import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.interpolation.Interpolatable;
import edu.wpi.first.math.kinematics.proto.MecanumDriveWheelPositionsProto;
import edu.wpi.first.math.kinematics.struct.MecanumDriveWheelPositionsStruct;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
import java.util.Objects;
@@ -71,10 +70,7 @@ public class MecanumDriveWheelPositions
* @param rearRight Distance measured by the rear right wheel.
*/
public MecanumDriveWheelPositions(
Measure<Distance> frontLeft,
Measure<Distance> frontRight,
Measure<Distance> rearLeft,
Measure<Distance> rearRight) {
Distance frontLeft, Distance frontRight, Distance rearLeft, Distance rearRight) {
this(frontLeft.in(Meters), frontRight.in(Meters), rearLeft.in(Meters), rearRight.in(Meters));
}

14
wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
View File

@@ -8,9 +8,7 @@ import static edu.wpi.first.units.Units.MetersPerSecond;
import edu.wpi.first.math.kinematics.proto.MecanumDriveWheelSpeedsProto;
import edu.wpi.first.math.kinematics.struct.MecanumDriveWheelSpeedsStruct;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
@@ -65,10 +63,10 @@ public class MecanumDriveWheelSpeeds implements ProtobufSerializable, StructSeri
* @param rearRight Speed of the rear right wheel.
*/
public MecanumDriveWheelSpeeds(
Measure<Velocity<Distance>> frontLeft,
Measure<Velocity<Distance>> frontRight,
Measure<Velocity<Distance>> rearLeft,
Measure<Velocity<Distance>> rearRight) {
LinearVelocity frontLeft,
LinearVelocity frontRight,
LinearVelocity rearLeft,
LinearVelocity rearRight) {
this(
frontLeft.in(MetersPerSecond),
frontRight.in(MetersPerSecond),
@@ -114,7 +112,7 @@ public class MecanumDriveWheelSpeeds implements ProtobufSerializable, StructSeri
*
* @param attainableMaxSpeed The absolute max speed that a wheel can reach.
*/
public void desaturate(Measure<Velocity<Distance>> attainableMaxSpeed) {
public void desaturate(LinearVelocity attainableMaxSpeed) {
desaturate(attainableMaxSpeed.in(MetersPerSecond));
}

14
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
View File

@@ -14,10 +14,8 @@ import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Twist2d;
import edu.wpi.first.math.kinematics.proto.SwerveDriveKinematicsProto;
import edu.wpi.first.math.kinematics.struct.SwerveDriveKinematicsStruct;
import edu.wpi.first.units.Angle;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.Struct;
import edu.wpi.first.util.struct.StructSerializable;
@@ -307,7 +305,7 @@ public class SwerveDriveKinematics
* @param attainableMaxSpeed The absolute max speed that a module can reach.
*/
public static void desaturateWheelSpeeds(
SwerveModuleState[] moduleStates, Measure<Velocity<Distance>> attainableMaxSpeed) {
SwerveModuleState[] moduleStates, LinearVelocity attainableMaxSpeed) {
desaturateWheelSpeeds(moduleStates, attainableMaxSpeed.in(MetersPerSecond));
}
@@ -379,9 +377,9 @@ public class SwerveDriveKinematics
public static void desaturateWheelSpeeds(
SwerveModuleState[] moduleStates,
ChassisSpeeds desiredChassisSpeed,
Measure<Velocity<Distance>> attainableMaxModuleSpeed,
Measure<Velocity<Distance>> attainableMaxTranslationalSpeed,
Measure<Velocity<Angle>> attainableMaxRotationalVelocity) {
LinearVelocity attainableMaxModuleSpeed,
LinearVelocity attainableMaxTranslationalSpeed,
AngularVelocity attainableMaxRotationalVelocity) {
desaturateWheelSpeeds(
moduleStates,
desiredChassisSpeed,

5
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
View File

@@ -11,8 +11,7 @@ import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.interpolation.Interpolatable;
import edu.wpi.first.math.kinematics.proto.SwerveModulePositionProto;
import edu.wpi.first.math.kinematics.struct.SwerveModulePositionStruct;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
import java.util.Objects;
@@ -55,7 +54,7 @@ public class SwerveModulePosition
* @param distance The distance measured by the wheel of the module.
* @param angle The angle of the module.
*/
public SwerveModulePosition(Measure<Distance> distance, Rotation2d angle) {
public SwerveModulePosition(Distance distance, Rotation2d angle) {
this(distance.in(Meters), angle);
}

6
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
View File

@@ -9,9 +9,7 @@ import static edu.wpi.first.units.Units.MetersPerSecond;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.proto.SwerveModuleStateProto;
import edu.wpi.first.math.kinematics.struct.SwerveModuleStateStruct;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
import java.util.Objects;
@@ -51,7 +49,7 @@ public class SwerveModuleState
* @param speed The speed of the wheel of the module.
* @param angle The angle of the module.
*/
public SwerveModuleState(Measure<Velocity<Distance>> speed, Rotation2d angle) {
public SwerveModuleState(LinearVelocity speed, Rotation2d angle) {
this(speed.in(MetersPerSecond), angle);
}

13
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryConfig.java
View File

@@ -14,9 +14,8 @@ import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConst
import edu.wpi.first.math.trajectory.constraint.MecanumDriveKinematicsConstraint;
import edu.wpi.first.math.trajectory.constraint.SwerveDriveKinematicsConstraint;
import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.measure.LinearAcceleration;
import edu.wpi.first.units.measure.LinearVelocity;
import java.util.ArrayList;
import java.util.List;
@@ -55,9 +54,7 @@ public class TrajectoryConfig {
* @param maxVelocity The max velocity for the trajectory.
* @param maxAcceleration The max acceleration for the trajectory.
*/
public TrajectoryConfig(
Measure<Velocity<Distance>> maxVelocity,
Measure<Velocity<Velocity<Distance>>> maxAcceleration) {
public TrajectoryConfig(LinearVelocity maxVelocity, LinearAcceleration maxAcceleration) {
this(maxVelocity.in(MetersPerSecond), maxAcceleration.in(MetersPerSecondPerSecond));
}
@@ -145,7 +142,7 @@ public class TrajectoryConfig {
* @param startVelocity The start velocity of the trajectory.
* @return Instance of the current config object.
*/
public TrajectoryConfig setStartVelocity(Measure<Velocity<Distance>> startVelocity) {
public TrajectoryConfig setStartVelocity(LinearVelocity startVelocity) {
return setStartVelocity(startVelocity.in(MetersPerSecond));
}
@@ -175,7 +172,7 @@ public class TrajectoryConfig {
* @param endVelocity The end velocity of the trajectory.
* @return Instance of the current config object.
*/
public TrajectoryConfig setEndVelocity(Measure<Velocity<Distance>> endVelocity) {
public TrajectoryConfig setEndVelocity(LinearVelocity endVelocity) {
return setEndVelocity(endVelocity.in(MetersPerSecond));
}

12
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
View File

@@ -7,8 +7,9 @@ package edu.wpi.first.math.trajectory;
import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUsageId;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.PerUnit;
import edu.wpi.first.units.TimeUnit;
import edu.wpi.first.units.Unit;
import edu.wpi.first.units.Velocity;
import java.util.Objects;
/**
@@ -79,8 +80,10 @@ public class TrapezoidProfile {
* @param maxVelocity maximum velocity
* @param maxAcceleration maximum acceleration
*/
public <U extends Unit<U>> Constraints(
Measure<Velocity<U>> maxVelocity, Measure<Velocity<Velocity<U>>> maxAcceleration) {
public <U extends Unit> Constraints(
Measure<? extends PerUnit<? extends U, TimeUnit>> maxVelocity,
Measure<? extends PerUnit<? extends PerUnit<? extends U, TimeUnit>, TimeUnit>>
maxAcceleration) {
this(maxVelocity.baseUnitMagnitude(), maxAcceleration.baseUnitMagnitude());
}
}
@@ -114,7 +117,8 @@ public class TrapezoidProfile {
* @param position The position at this state.
* @param velocity The velocity at this state.
*/
public <U extends Unit<U>> State(Measure<U> position, Measure<Velocity<U>> velocity) {
public <U extends Unit> State(
Measure<U> position, Measure<? extends PerUnit<? extends U, TimeUnit>> velocity) {
this(position.baseUnitMagnitude(), velocity.baseUnitMagnitude());
}

5
wpimath/src/test/java/edu/wpi/first/math/controller/SimpleMotorFeedforwardTest.java
View File

@@ -13,7 +13,6 @@ import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.units.MutableMeasure;
import org.junit.jupiter.api.Test;
class SimpleMotorFeedforwardTest {
@@ -32,8 +31,8 @@ class SimpleMotorFeedforwardTest {
var r = VecBuilder.fill(2.0);
var nextR = VecBuilder.fill(3.0);
var currentVelocity = MutableMeasure.ofBaseUnits(2.0, RadiansPerSecond);
var nextVelocity = MutableMeasure.ofBaseUnits(3.0, RadiansPerSecond);
var currentVelocity = RadiansPerSecond.mutable(2.0);
var nextVelocity = RadiansPerSecond.mutable(3.0);
assertEquals(
37.52499583432516 + 0.5,

2
wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java
View File

@@ -49,7 +49,7 @@ class ChassisSpeedsTest {
@Test
void testMeasureConstructor() {
var vx = InchesPerSecond.of(14.52);
var vy = InchesPerSecond.zero();
var vy = InchesPerSecond.of(0);
var omega = RPM.of(0.02);
var speeds = new ChassisSpeeds(vx, vy, omega);

5
wpimath/src/test/java/edu/wpi/first/math/trajectory/ExponentialProfileTest.java
View File

@@ -11,7 +11,6 @@ import static org.junit.jupiter.api.Assertions.assertNotEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.units.MutableMeasure;
import java.util.List;
import org.junit.jupiter.api.Test;
@@ -45,8 +44,8 @@ class ExponentialProfileTest {
private static ExponentialProfile.State checkDynamics(
ExponentialProfile profile, ExponentialProfile.State current, ExponentialProfile.State goal) {
var next = profile.calculate(kDt, current, goal);
var currentVelocity = MutableMeasure.ofBaseUnits(current.velocity, RadiansPerSecond);
var nextVelocity = MutableMeasure.ofBaseUnits(next.velocity, RadiansPerSecond);
var currentVelocity = RadiansPerSecond.mutable(current.velocity);
var nextVelocity = RadiansPerSecond.mutable(next.velocity);
var signal = feedforward.calculate(currentVelocity, nextVelocity);
assertTrue(Math.abs(signal.magnitude()) < constraints.maxInput + 1e-9);

6
wpiunits/CMakeLists.txt
View File

@@ -4,7 +4,7 @@ project(wpiunits)
if(WITH_JAVA)
include(UseJava)
file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
add_jar(
wpiunits_jar
@@ -24,7 +24,9 @@ if(WITH_JAVA_SOURCE)
include(CreateSourceJar)
add_source_jar(
wpiunits_src_jar
BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
BASE_DIRECTORIES
${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/java
OUTPUT_NAME wpiunits-sources
)
set_property(TARGET wpiunits_src_jar PROPERTY FOLDER "java")

2
wpiunits/build.gradle
View File

@@ -12,3 +12,5 @@ apply from: "${rootDir}/shared/java/javacommon.gradle"
dependencies {
}
sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"

362
wpiunits/generate_units.py Executable file
View File

@@ -0,0 +1,362 @@
#!/usr/bin/env python3
# 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.
# This script generates unit-specific interfaces and mutable and immutable implementations of
# those interfaces.
# Generated files will be located in wpiunits/src/generated/main/
import inspect
import os
import re
from jinja2 import Environment, FileSystemLoader
def output(outPath, outfn, contents):
if not os.path.exists(outPath):
os.makedirs(outPath)
outpathname = f"{outPath}/{outfn}"
if os.path.exists(outpathname):
with open(outpathname, "r") as f:
if f.read() == contents:
return
# File either doesn't exist or has different contents
with open(outpathname, "w", newline="\n") as f:
f.write(contents)
# The units for which multiply and divide mathematical operations are defined
MATH_OPERATION_UNITS = [
"Acceleration<?>",
"Angle",
"AngularAcceleration",
"AngularMomentum",
"AngularVelocity",
"Current",
"Dimensionless",
"Distance",
"Energy",
"Force",
"Frequency",
"LinearAcceleration",
"LinearMomentum",
"LinearVelocity",
"Mass",
"MomentOfInertia",
"Mult<?, ?>",
"Per<?, ?>",
"Power",
"Temperature",
"Time",
"Torque",
"Velocity<?>",
"Voltage",
]
# Configurations for all generated units
UNIT_CONFIGURATIONS = {
"Acceleration": {
"base_unit": "unit()",
"generics": {"D": {"extends": "Unit"}},
"multiply": {},
"divide": {},
},
"Angle": {
"base_unit": "Radians",
"multiply": {"Frequency": "AngularVelocity"},
"divide": {"Time": "AngularVelocity"},
},
"AngularAcceleration": {
"base_unit": "RadiansPerSecondPerSecond",
"multiply": {"Time": "AngularVelocity"},
"divide": {"Frequency": "AngularVelocity"},
},
"AngularMomentum": {
"base_unit": "KilogramMetersSquaredPerSecond",
"multiply": {},
"divide": {"AngularVelocity": "MomentOfInertia"},
},
"AngularVelocity": {
"base_unit": "RadiansPerSecond",
"multiply": {"Time": "Angle", "Frequency": "AngularAcceleration"},
"divide": {"Time": "AngularAcceleration"},
"extra": inspect.cleandoc(
"""
default Frequency asFrequency() { return Hertz.of(baseUnitMagnitude()); }
"""
),
},
"Current": {"base_unit": "Amps", "multiply": {"Voltage": "Power"}, "divide": {}},
"Dimensionless": {
"base_unit": "Value",
"multiply": {
"Angle": "Angle",
"AngularAcceleration": "AngularAcceleration",
"AngularMomentum": "AngularMomentum",
"AngularVelocity": "AngularVelocity",
"Current": "Current",
"Dimensionless": "Dimensionless",
"Distance": "Distance",
"Energy": "Energy",
"Force": "Force",
"Frequency": "Frequency",
"LinearAcceleration": "LinearAcceleration",
"LinearMomentum": "LinearMomentum",
"LinearVelocity": "LinearVelocity",
"Mass": "Mass",
"MomentOfInertia": "MomentOfInertia",
"Power": "Power",
"Temperature": "Temperature",
"Time": "Time",
"Torque": "Torque",
"Voltage": "Voltage",
},
"divide": {
"Time": "Frequency",
# TODO:
# "AngularVelocity": "Per<TimeUnit, AngleUnit>",
# "AngularAcceleration": "Per<TimeUnit, AngularVelocityUnit>",
# "LinearVelocity": "Per<TimeUnit, DistanceUnit>",
# "LinearAcceleration": "Per<TimeUnit, LinearVelocityUnit>",
# "Velocity<?>": "Per<TimeUnit, ?>",
# "Acceleration<?>": "Per<TimeUnit, VelocityUnit<?>>
# "Per<N, D>": "Per<D, N>"
},
},
"Distance": {
"base_unit": "Meters",
"multiply": {
"Frequency": "LinearVelocity",
# Distance x Force = Torque
# Force x Distance = Energy
"Force": "Torque",
},
"divide": {"Time": "LinearVelocity", "LinearVelocity": "Time"},
},
"Energy": {
"base_unit": "Joules",
"multiply": {"Frequency": "Power"},
"divide": {"Time": "Power"},
},
"Force": {
"base_unit": "Newtons",
"multiply": {
# Distance x Force = Torque
# Force x Distance = Energy
"Distance": "Energy"
},
"divide": {"Mass": "LinearAcceleration", "LinearAcceleration": "Mass"},
},
"Frequency": {
"base_unit": "Hertz",
"multiply": {
"Time": "Dimensionless",
"Distance": "LinearVelocity",
"LinearVelocity": "LinearAcceleration",
"Angle": "AngularVelocity",
"AngularVelocity": "AngularAcceleration",
},
"divide": {},
"extra": inspect.cleandoc(
"""
/** Converts this frequency to the time period between cycles. */
default Time asPeriod() { return Seconds.of(1 / baseUnitMagnitude()); }
"""
),
},
"LinearAcceleration": {
"base_unit": "MetersPerSecondPerSecond",
"multiply": {"Time": "LinearVelocity"},
"divide": {"Frequency": "LinearVelocity"},
},
"LinearMomentum": {
"base_unit": "KilogramMetersPerSecond",
"multiply": {"Frequency": "Force"},
"divide": {"Mass": "LinearVelocity", "LinearVelocity": "Mass", "Time": "Force"},
},
"LinearVelocity": {
"base_unit": "MetersPerSecond",
"multiply": {"Time": "Distance", "Frequency": "LinearAcceleration"},
"divide": {"Time": "LinearAcceleration"},
},
"Mass": {
"base_unit": "Kilograms",
"multiply": {"LinearAcceleration": "Force"},
"divide": {},
},
"MomentOfInertia": {
"base_unit": "KilogramSquareMeters",
"multiply": {"AngularVelocity": "AngularMomentum"},
"divide": {},
},
"Mult": {
"base_unit": "unit()",
"generics": {"A": {"extends": "Unit"}, "B": {"extends": "Unit"}},
"multiply": {},
"divide": {},
},
"Per": {
"base_unit": "unit()",
"generics": {"Dividend": {"extends": "Unit"}, "Divisor": {"extends": "Unit"}},
"multiply": {},
"divide": {},
"extra": inspect.cleandoc(
"""
default Measure<Dividend> timesDivisor(Measure<? extends Divisor> multiplier) {
return (Measure<Dividend>) baseUnit().numerator().ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
default Measure<? extends PerUnit<Divisor, Dividend>> reciprocal() {
// May return a velocity if Divisor == TimeUnit, so we can't guarantee a "Per" instance
return baseUnit().reciprocal().ofBaseUnits(1 / baseUnitMagnitude());
}
"""
),
},
"Power": {
"base_unit": "Watts",
"multiply": {
"Time": "Energy",
},
"divide": {"Voltage": "Current", "Current": "Voltage", "Energy": "Frequency"},
},
"Temperature": {"base_unit": "Kelvin", "multiply": {}, "divide": {}},
"Time": {
"base_unit": "Seconds",
"multiply": {
"Frequency": "Dimensionless",
"AngularVelocity": "Angle",
"AngularAcceleration": "AngularVelocity",
"LinearVelocity": "Distance",
"LinearAcceleration": "LinearVelocity",
# TODO:
# "Acceleration<D>": "Velocity<D>"
# "Velocity<D>": "Measure<D>"
},
"divide": {
# Time specifically needs this to be called out so generated methods like
# `per(TimeUnit)` or `divide(Time)` will return dimensionless values instead of
# `Velocity<TimeUnit>` (i.e. a time per unit time ratio)
"Time": "Dimensionless"
},
"extra": inspect.cleandoc(
"""
default Frequency asFrequency() { return Hertz.of(1 / baseUnitMagnitude()); }
"""
),
},
"Torque": {
"base_unit": "NewtonMeters",
"multiply": {},
"divide": {"Distance": "Force", "Force": "Distance"},
},
"Velocity": {
"base_unit": "unit()",
"generics": {"D": {"extends": "Unit"}},
"multiply": {},
"divide": {},
},
"Voltage": {"base_unit": "Volts", "multiply": {"Current": "Power"}, "divide": {}},
}
def generics_list(measure_name):
if "generics" in UNIT_CONFIGURATIONS[measure_name]:
args = []
for name, config in UNIT_CONFIGURATIONS[measure_name]["generics"].items():
if "extends" in config:
args.append("{} extends {}".format(name, config["extends"]))
elif "super" in config:
args.append("{} super {}".format(name, config["super"]))
else:
args.append(name)
return "<{}>".format(", ".join(args))
else:
return ""
def generics_usage(measure_name):
if "generics" in UNIT_CONFIGURATIONS[measure_name]:
args = UNIT_CONFIGURATIONS[measure_name]["generics"].keys()
return "<{}>".format(", ".join(args))
else:
return ""
def type_decl(measure_name):
return measure_name + generics_list(measure_name)
def type_usage(measure_name):
return measure_name + generics_usage(measure_name)
# measure-to-unit
def mtou(measure_name):
if (
measure_name in UNIT_CONFIGURATIONS
and "generics" in UNIT_CONFIGURATIONS[measure_name]
):
return "{}Unit{}".format(measure_name, generics_usage(measure_name))
else:
regex = re.compile(r"^(.*?)(<.*>)?$")
return re.sub(regex, "\\1Unit\\2", measure_name)
def main():
dirname, _ = os.path.split(os.path.abspath(__file__))
env = Environment(
loader=FileSystemLoader(f"{dirname}/src/generate/main/java"),
autoescape=False,
keep_trailing_newline=True,
)
interfaceTemplate = env.get_template("Measure-interface.java.jinja")
immutableTemplate = env.get_template("Measure-immutable.java.jinja")
mutableTemplate = env.get_template("Measure-mutable.java.jinja")
rootPath = f"{dirname}/src/generated/main/java/edu/wpi/first/units"
helpers = {
"type_decl": type_decl,
"type_usage": type_usage,
"generics_list": generics_list,
"generics_usage": generics_usage,
"mtou": mtou,
}
for unit_name in UNIT_CONFIGURATIONS:
interfaceContents = interfaceTemplate.render(
name=unit_name,
math_units=MATH_OPERATION_UNITS,
config=UNIT_CONFIGURATIONS,
helpers=helpers,
)
immutableContents = immutableTemplate.render(
name=unit_name,
units=MATH_OPERATION_UNITS,
config=UNIT_CONFIGURATIONS,
helpers=helpers,
)
mutableContents = mutableTemplate.render(
name=unit_name,
units=MATH_OPERATION_UNITS,
config=UNIT_CONFIGURATIONS,
helpers=helpers,
)
output(f"{rootPath}/measure", f"{unit_name}.java", interfaceContents)
output(f"{rootPath}/measure", f"Immutable{unit_name}.java", immutableContents)
output(f"{rootPath}/measure", f"Mut{unit_name}.java", mutableContents)
if __name__ == "__main__":
main()

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wpiunits/src/generate/main/java/Measure-immutable.java.jinja Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record Immutable{{ helpers['type_decl'](name) }}(double magnitude, double baseUnitMagnitude, {{ helpers['mtou'](name) }} unit) implements {{ helpers['type_usage'](name) }} {
@Override
public {{ helpers['type_usage'](name) }} copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

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wpiunits/src/generate/main/java/Measure-interface.java.jinja Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mtou'](name) }}> {
static {{ helpers['generics_list'](name) }} {{ helpers['type_usage'](name) }} ofRelativeUnits(double magnitude, {{ helpers['mtou'](name) }} unit) {
return new Immutable{{ helpers['type_usage'](name) }}(magnitude, unit.toBaseUnits(magnitude), unit);
}
static {{ helpers['generics_list'](name) }} {{ helpers['type_usage'](name) }} ofBaseUnits(double baseUnitMagnitude, {{ helpers['mtou'](name) }} unit) {
return new Immutable{{ helpers['type_usage'](name) }}(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
{{ helpers['type_usage'](name) }} copy();
@Override
default Mut{{ helpers['type_usage'](name) }} mutableCopy() {
return new Mut{{ helpers['type_usage'](name) }}(magnitude(), baseUnitMagnitude(), unit());
}
@Override
{{ helpers['mtou'](name) }} unit();
@Override
default {{ helpers['mtou'](name) }} baseUnit() { return ({{ helpers['mtou'](name) }}) unit().getBaseUnit(); }
@Override
default double in({{ helpers['mtou'](name) }} unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default {{ helpers['type_usage'](name) }} unaryMinus() {
return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default {{ helpers['type_usage'](name) }} plus(Measure<? extends {{ helpers['mtou'](name) }}> other) {
return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default {{ helpers['type_usage'](name) }} minus(Measure<? extends {{ helpers['mtou'](name) }}> other) {
return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default {{ helpers['type_usage'](name) }} times(double multiplier) {
return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default {{ helpers['type_usage'](name) }} divide(double divisor) {
return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default {{ config[name]['divide']['Time'] or "Velocity<{}>".format(helpers['mtou'](name)) }} per(TimeUnit period) {
return divide(period.of(1));
}
{% for unit in math_units -%}
{% if unit == "Dimensionless" %}
@Override
default {{ helpers['type_usage'](name) }} divide({{ unit }} divisor) {
return ({{ helpers['type_usage'](name) }}) {{ config[name]['base_unit'] }}.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default {{ helpers['type_usage'](name) }} times({{ unit }} multiplier) {
return ({{ helpers['type_usage'](name) }}) {{ config[name]['base_unit'] }}.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
{% else %}
{% if unit in config[name]['multiply'] %}
@Override
default {{ config[name]['multiply'][unit] }} times({{ unit }} multiplier) {
return {{ config[config[name]['multiply'][unit]]['base_unit'] }}.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
{% else %}
@Override
default Mult<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}> times({{ unit }} multiplier) {
return (Mult<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}>) Measure.super.times(multiplier);
}
{% endif -%}
{% if unit in config[name]['divide'] %}
@Override
default {{ config[name]['divide'][unit] }} divide({{ unit }} divisor) {
return {{ config[config[name]['divide'][unit]]['base_unit'] }}.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
{% elif unit == "Time" %}
@Override
default Velocity<{{ helpers['mtou'](name) }}> divide({{ unit }} divisor) {
return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
{% elif unit == name %}
@Override
default Dimensionless divide({{ unit }} divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
{% else %}
@Override
default Per<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}> divide({{ unit }} divisor) {
return (Per<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}>) Measure.super.divide(divisor);
}
{% endif -%}
{% endif -%}
{% endfor -%}
{{ config[name]['extra'] }}
}

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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
import edu.wpi.first.units.mutable.MutableMeasureBase;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public final class Mut{{ helpers['type_decl'](name) }}
extends MutableMeasureBase<{{ helpers['mtou'](name) }}, {{ helpers['type_usage'](name) }}, Mut{{ helpers['type_usage'](name) }}>
implements {{ helpers['type_usage'](name) }} {
public Mut{{ name }}(double magnitude, double baseUnitMagnitude, {{ helpers['mtou'](name) }} unit) {
super(magnitude, baseUnitMagnitude, unit);
}
@Override
public {{ helpers['type_usage'](name) }} copy() {
return new Immutable{{ helpers['type_usage'](name) }}(magnitude(), baseUnitMagnitude(), unit());
}
}

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wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Acceleration.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface Acceleration<D extends Unit> extends Measure<AccelerationUnit<D>> {
static <D extends Unit> Acceleration<D> ofRelativeUnits(double magnitude, AccelerationUnit<D> unit) {
return new ImmutableAcceleration<D>(magnitude, unit.toBaseUnits(magnitude), unit);
}
static <D extends Unit> Acceleration<D> ofBaseUnits(double baseUnitMagnitude, AccelerationUnit<D> unit) {
return new ImmutableAcceleration<D>(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
Acceleration<D> copy();
@Override
default MutAcceleration<D> mutableCopy() {
return new MutAcceleration<D>(magnitude(), baseUnitMagnitude(), unit());
}
@Override
AccelerationUnit<D> unit();
@Override
default AccelerationUnit<D> baseUnit() { return (AccelerationUnit<D>) unit().getBaseUnit(); }
@Override
default double in(AccelerationUnit<D> unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default Acceleration<D> unaryMinus() {
return (Acceleration<D>) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default Acceleration<D> plus(Measure<? extends AccelerationUnit<D>> other) {
return (Acceleration<D>) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default Acceleration<D> minus(Measure<? extends AccelerationUnit<D>> other) {
return (Acceleration<D>) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default Acceleration<D> times(double multiplier) {
return (Acceleration<D>) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default Acceleration<D> divide(double divisor) {
return (Acceleration<D>) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default Velocity<AccelerationUnit<D>> per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<AccelerationUnit<D>, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<AccelerationUnit<D>, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<AccelerationUnit<D>, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, AngleUnit> times(Angle multiplier) {
return (Mult<AccelerationUnit<D>, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, AngleUnit> divide(Angle divisor) {
return (Per<AccelerationUnit<D>, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<AccelerationUnit<D>, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<AccelerationUnit<D>, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<AccelerationUnit<D>, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<AccelerationUnit<D>, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<AccelerationUnit<D>, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<AccelerationUnit<D>, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, CurrentUnit> times(Current multiplier) {
return (Mult<AccelerationUnit<D>, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, CurrentUnit> divide(Current divisor) {
return (Per<AccelerationUnit<D>, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default Acceleration<D> divide(Dimensionless divisor) {
return (Acceleration<D>) unit().of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Acceleration<D> times(Dimensionless multiplier) {
return (Acceleration<D>) unit().of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<AccelerationUnit<D>, DistanceUnit> times(Distance multiplier) {
return (Mult<AccelerationUnit<D>, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, DistanceUnit> divide(Distance divisor) {
return (Per<AccelerationUnit<D>, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, EnergyUnit> times(Energy multiplier) {
return (Mult<AccelerationUnit<D>, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, EnergyUnit> divide(Energy divisor) {
return (Per<AccelerationUnit<D>, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, ForceUnit> times(Force multiplier) {
return (Mult<AccelerationUnit<D>, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, ForceUnit> divide(Force divisor) {
return (Per<AccelerationUnit<D>, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, FrequencyUnit> times(Frequency multiplier) {
return (Mult<AccelerationUnit<D>, FrequencyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, FrequencyUnit> divide(Frequency divisor) {
return (Per<AccelerationUnit<D>, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<AccelerationUnit<D>, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<AccelerationUnit<D>, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<AccelerationUnit<D>, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<AccelerationUnit<D>, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<AccelerationUnit<D>, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<AccelerationUnit<D>, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, MassUnit> times(Mass multiplier) {
return (Mult<AccelerationUnit<D>, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, MassUnit> divide(Mass divisor) {
return (Per<AccelerationUnit<D>, MassUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<AccelerationUnit<D>, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<AccelerationUnit<D>, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<AccelerationUnit<D>, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<AccelerationUnit<D>, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<AccelerationUnit<D>, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<AccelerationUnit<D>, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, PowerUnit> times(Power multiplier) {
return (Mult<AccelerationUnit<D>, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, PowerUnit> divide(Power divisor) {
return (Per<AccelerationUnit<D>, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, TemperatureUnit> times(Temperature multiplier) {
return (Mult<AccelerationUnit<D>, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, TemperatureUnit> divide(Temperature divisor) {
return (Per<AccelerationUnit<D>, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, TimeUnit> times(Time multiplier) {
return (Mult<AccelerationUnit<D>, TimeUnit>) Measure.super.times(multiplier);
}
@Override
default Velocity<AccelerationUnit<D>> divide(Time divisor) {
return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<AccelerationUnit<D>, TorqueUnit> times(Torque multiplier) {
return (Mult<AccelerationUnit<D>, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, TorqueUnit> divide(Torque divisor) {
return (Per<AccelerationUnit<D>, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<AccelerationUnit<D>, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<AccelerationUnit<D>, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AccelerationUnit<D>, VoltageUnit> times(Voltage multiplier) {
return (Mult<AccelerationUnit<D>, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AccelerationUnit<D>, VoltageUnit> divide(Voltage divisor) {
return (Per<AccelerationUnit<D>, VoltageUnit>) Measure.super.divide(divisor);
}
}

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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface Angle extends Measure<AngleUnit> {
static Angle ofRelativeUnits(double magnitude, AngleUnit unit) {
return new ImmutableAngle(magnitude, unit.toBaseUnits(magnitude), unit);
}
static Angle ofBaseUnits(double baseUnitMagnitude, AngleUnit unit) {
return new ImmutableAngle(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
Angle copy();
@Override
default MutAngle mutableCopy() {
return new MutAngle(magnitude(), baseUnitMagnitude(), unit());
}
@Override
AngleUnit unit();
@Override
default AngleUnit baseUnit() { return (AngleUnit) unit().getBaseUnit(); }
@Override
default double in(AngleUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default Angle unaryMinus() {
return (Angle) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default Angle plus(Measure<? extends AngleUnit> other) {
return (Angle) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default Angle minus(Measure<? extends AngleUnit> other) {
return (Angle) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default Angle times(double multiplier) {
return (Angle) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default Angle divide(double divisor) {
return (Angle) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default AngularVelocity per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<AngleUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<AngleUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<AngleUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, AngleUnit> times(Angle multiplier) {
return (Mult<AngleUnit, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(Angle divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<AngleUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<AngleUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<AngleUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<AngleUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<AngleUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<AngleUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<AngleUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, CurrentUnit> times(Current multiplier) {
return (Mult<AngleUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, CurrentUnit> divide(Current divisor) {
return (Per<AngleUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default Angle divide(Dimensionless divisor) {
return (Angle) Radians.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Angle times(Dimensionless multiplier) {
return (Angle) Radians.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<AngleUnit, DistanceUnit> times(Distance multiplier) {
return (Mult<AngleUnit, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, DistanceUnit> divide(Distance divisor) {
return (Per<AngleUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<AngleUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, EnergyUnit> divide(Energy divisor) {
return (Per<AngleUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, ForceUnit> times(Force multiplier) {
return (Mult<AngleUnit, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, ForceUnit> divide(Force divisor) {
return (Per<AngleUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default AngularVelocity times(Frequency multiplier) {
return RadiansPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<AngleUnit, FrequencyUnit> divide(Frequency divisor) {
return (Per<AngleUnit, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<AngleUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<AngleUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<AngleUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<AngleUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<AngleUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<AngleUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, MassUnit> times(Mass multiplier) {
return (Mult<AngleUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, MassUnit> divide(Mass divisor) {
return (Per<AngleUnit, MassUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<AngleUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<AngleUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<AngleUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<AngleUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<AngleUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<AngleUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, PowerUnit> times(Power multiplier) {
return (Mult<AngleUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, PowerUnit> divide(Power divisor) {
return (Per<AngleUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<AngleUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<AngleUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, TimeUnit> times(Time multiplier) {
return (Mult<AngleUnit, TimeUnit>) Measure.super.times(multiplier);
}
@Override
default AngularVelocity divide(Time divisor) {
return RadiansPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<AngleUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<AngleUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, TorqueUnit> divide(Torque divisor) {
return (Per<AngleUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<AngleUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<AngleUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngleUnit, VoltageUnit> times(Voltage multiplier) {
return (Mult<AngleUnit, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngleUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<AngleUnit, VoltageUnit>) Measure.super.divide(divisor);
}
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularAcceleration.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface AngularAcceleration extends Measure<AngularAccelerationUnit> {
static AngularAcceleration ofRelativeUnits(double magnitude, AngularAccelerationUnit unit) {
return new ImmutableAngularAcceleration(magnitude, unit.toBaseUnits(magnitude), unit);
}
static AngularAcceleration ofBaseUnits(double baseUnitMagnitude, AngularAccelerationUnit unit) {
return new ImmutableAngularAcceleration(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
AngularAcceleration copy();
@Override
default MutAngularAcceleration mutableCopy() {
return new MutAngularAcceleration(magnitude(), baseUnitMagnitude(), unit());
}
@Override
AngularAccelerationUnit unit();
@Override
default AngularAccelerationUnit baseUnit() { return (AngularAccelerationUnit) unit().getBaseUnit(); }
@Override
default double in(AngularAccelerationUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default AngularAcceleration unaryMinus() {
return (AngularAcceleration) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default AngularAcceleration plus(Measure<? extends AngularAccelerationUnit> other) {
return (AngularAcceleration) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default AngularAcceleration minus(Measure<? extends AngularAccelerationUnit> other) {
return (AngularAcceleration) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default AngularAcceleration times(double multiplier) {
return (AngularAcceleration) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default AngularAcceleration divide(double divisor) {
return (AngularAcceleration) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default Velocity<AngularAccelerationUnit> per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<AngularAccelerationUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<AngularAccelerationUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<AngularAccelerationUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, AngleUnit> times(Angle multiplier) {
return (Mult<AngularAccelerationUnit, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, AngleUnit> divide(Angle divisor) {
return (Per<AngularAccelerationUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<AngularAccelerationUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(AngularAcceleration divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<AngularAccelerationUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<AngularAccelerationUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<AngularAccelerationUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<AngularAccelerationUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<AngularAccelerationUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, CurrentUnit> times(Current multiplier) {
return (Mult<AngularAccelerationUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, CurrentUnit> divide(Current divisor) {
return (Per<AngularAccelerationUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default AngularAcceleration divide(Dimensionless divisor) {
return (AngularAcceleration) RadiansPerSecondPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default AngularAcceleration times(Dimensionless multiplier) {
return (AngularAcceleration) RadiansPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<AngularAccelerationUnit, DistanceUnit> times(Distance multiplier) {
return (Mult<AngularAccelerationUnit, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, DistanceUnit> divide(Distance divisor) {
return (Per<AngularAccelerationUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<AngularAccelerationUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, EnergyUnit> divide(Energy divisor) {
return (Per<AngularAccelerationUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, ForceUnit> times(Force multiplier) {
return (Mult<AngularAccelerationUnit, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, ForceUnit> divide(Force divisor) {
return (Per<AngularAccelerationUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, FrequencyUnit> times(Frequency multiplier) {
return (Mult<AngularAccelerationUnit, FrequencyUnit>) Measure.super.times(multiplier);
}
@Override
default AngularVelocity divide(Frequency divisor) {
return RadiansPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<AngularAccelerationUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<AngularAccelerationUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<AngularAccelerationUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<AngularAccelerationUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<AngularAccelerationUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<AngularAccelerationUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<AngularAccelerationUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, MassUnit> times(Mass multiplier) {
return (Mult<AngularAccelerationUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, MassUnit> divide(Mass divisor) {
return (Per<AngularAccelerationUnit, MassUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<AngularAccelerationUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<AngularAccelerationUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<AngularAccelerationUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<AngularAccelerationUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<AngularAccelerationUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<AngularAccelerationUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, PowerUnit> times(Power multiplier) {
return (Mult<AngularAccelerationUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, PowerUnit> divide(Power divisor) {
return (Per<AngularAccelerationUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<AngularAccelerationUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<AngularAccelerationUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default AngularVelocity times(Time multiplier) {
return RadiansPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Velocity<AngularAccelerationUnit> divide(Time divisor) {
return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<AngularAccelerationUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<AngularAccelerationUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, TorqueUnit> divide(Torque divisor) {
return (Per<AngularAccelerationUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<AngularAccelerationUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<AngularAccelerationUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularAccelerationUnit, VoltageUnit> times(Voltage multiplier) {
return (Mult<AngularAccelerationUnit, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularAccelerationUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<AngularAccelerationUnit, VoltageUnit>) Measure.super.divide(divisor);
}
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularMomentum.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface AngularMomentum extends Measure<AngularMomentumUnit> {
static AngularMomentum ofRelativeUnits(double magnitude, AngularMomentumUnit unit) {
return new ImmutableAngularMomentum(magnitude, unit.toBaseUnits(magnitude), unit);
}
static AngularMomentum ofBaseUnits(double baseUnitMagnitude, AngularMomentumUnit unit) {
return new ImmutableAngularMomentum(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
AngularMomentum copy();
@Override
default MutAngularMomentum mutableCopy() {
return new MutAngularMomentum(magnitude(), baseUnitMagnitude(), unit());
}
@Override
AngularMomentumUnit unit();
@Override
default AngularMomentumUnit baseUnit() { return (AngularMomentumUnit) unit().getBaseUnit(); }
@Override
default double in(AngularMomentumUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default AngularMomentum unaryMinus() {
return (AngularMomentum) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default AngularMomentum plus(Measure<? extends AngularMomentumUnit> other) {
return (AngularMomentum) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default AngularMomentum minus(Measure<? extends AngularMomentumUnit> other) {
return (AngularMomentum) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default AngularMomentum times(double multiplier) {
return (AngularMomentum) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default AngularMomentum divide(double divisor) {
return (AngularMomentum) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default Velocity<AngularMomentumUnit> per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<AngularMomentumUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<AngularMomentumUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<AngularMomentumUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, AngleUnit> times(Angle multiplier) {
return (Mult<AngularMomentumUnit, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, AngleUnit> divide(Angle divisor) {
return (Per<AngularMomentumUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<AngularMomentumUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<AngularMomentumUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<AngularMomentumUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(AngularMomentum divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<AngularMomentumUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<AngularMomentumUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default MomentOfInertia divide(AngularVelocity divisor) {
return KilogramSquareMeters.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<AngularMomentumUnit, CurrentUnit> times(Current multiplier) {
return (Mult<AngularMomentumUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, CurrentUnit> divide(Current divisor) {
return (Per<AngularMomentumUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default AngularMomentum divide(Dimensionless divisor) {
return (AngularMomentum) KilogramMetersSquaredPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default AngularMomentum times(Dimensionless multiplier) {
return (AngularMomentum) KilogramMetersSquaredPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<AngularMomentumUnit, DistanceUnit> times(Distance multiplier) {
return (Mult<AngularMomentumUnit, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, DistanceUnit> divide(Distance divisor) {
return (Per<AngularMomentumUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<AngularMomentumUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, EnergyUnit> divide(Energy divisor) {
return (Per<AngularMomentumUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, ForceUnit> times(Force multiplier) {
return (Mult<AngularMomentumUnit, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, ForceUnit> divide(Force divisor) {
return (Per<AngularMomentumUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, FrequencyUnit> times(Frequency multiplier) {
return (Mult<AngularMomentumUnit, FrequencyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, FrequencyUnit> divide(Frequency divisor) {
return (Per<AngularMomentumUnit, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<AngularMomentumUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<AngularMomentumUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<AngularMomentumUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<AngularMomentumUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<AngularMomentumUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<AngularMomentumUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, MassUnit> times(Mass multiplier) {
return (Mult<AngularMomentumUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, MassUnit> divide(Mass divisor) {
return (Per<AngularMomentumUnit, MassUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<AngularMomentumUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<AngularMomentumUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<AngularMomentumUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<AngularMomentumUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<AngularMomentumUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<AngularMomentumUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, PowerUnit> times(Power multiplier) {
return (Mult<AngularMomentumUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, PowerUnit> divide(Power divisor) {
return (Per<AngularMomentumUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<AngularMomentumUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<AngularMomentumUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, TimeUnit> times(Time multiplier) {
return (Mult<AngularMomentumUnit, TimeUnit>) Measure.super.times(multiplier);
}
@Override
default Velocity<AngularMomentumUnit> divide(Time divisor) {
return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<AngularMomentumUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<AngularMomentumUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, TorqueUnit> divide(Torque divisor) {
return (Per<AngularMomentumUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<AngularMomentumUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<AngularMomentumUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularMomentumUnit, VoltageUnit> times(Voltage multiplier) {
return (Mult<AngularMomentumUnit, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularMomentumUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<AngularMomentumUnit, VoltageUnit>) Measure.super.divide(divisor);
}
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularVelocity.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface AngularVelocity extends Measure<AngularVelocityUnit> {
static AngularVelocity ofRelativeUnits(double magnitude, AngularVelocityUnit unit) {
return new ImmutableAngularVelocity(magnitude, unit.toBaseUnits(magnitude), unit);
}
static AngularVelocity ofBaseUnits(double baseUnitMagnitude, AngularVelocityUnit unit) {
return new ImmutableAngularVelocity(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
AngularVelocity copy();
@Override
default MutAngularVelocity mutableCopy() {
return new MutAngularVelocity(magnitude(), baseUnitMagnitude(), unit());
}
@Override
AngularVelocityUnit unit();
@Override
default AngularVelocityUnit baseUnit() { return (AngularVelocityUnit) unit().getBaseUnit(); }
@Override
default double in(AngularVelocityUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default AngularVelocity unaryMinus() {
return (AngularVelocity) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default AngularVelocity plus(Measure<? extends AngularVelocityUnit> other) {
return (AngularVelocity) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default AngularVelocity minus(Measure<? extends AngularVelocityUnit> other) {
return (AngularVelocity) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default AngularVelocity times(double multiplier) {
return (AngularVelocity) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default AngularVelocity divide(double divisor) {
return (AngularVelocity) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default AngularAcceleration per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<AngularVelocityUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<AngularVelocityUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<AngularVelocityUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, AngleUnit> times(Angle multiplier) {
return (Mult<AngularVelocityUnit, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, AngleUnit> divide(Angle divisor) {
return (Per<AngularVelocityUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<AngularVelocityUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<AngularVelocityUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<AngularVelocityUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<AngularVelocityUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<AngularVelocityUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(AngularVelocity divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<AngularVelocityUnit, CurrentUnit> times(Current multiplier) {
return (Mult<AngularVelocityUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, CurrentUnit> divide(Current divisor) {
return (Per<AngularVelocityUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default AngularVelocity divide(Dimensionless divisor) {
return (AngularVelocity) RadiansPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default AngularVelocity times(Dimensionless multiplier) {
return (AngularVelocity) RadiansPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<AngularVelocityUnit, DistanceUnit> times(Distance multiplier) {
return (Mult<AngularVelocityUnit, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, DistanceUnit> divide(Distance divisor) {
return (Per<AngularVelocityUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<AngularVelocityUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, EnergyUnit> divide(Energy divisor) {
return (Per<AngularVelocityUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, ForceUnit> times(Force multiplier) {
return (Mult<AngularVelocityUnit, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, ForceUnit> divide(Force divisor) {
return (Per<AngularVelocityUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default AngularAcceleration times(Frequency multiplier) {
return RadiansPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<AngularVelocityUnit, FrequencyUnit> divide(Frequency divisor) {
return (Per<AngularVelocityUnit, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<AngularVelocityUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<AngularVelocityUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<AngularVelocityUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<AngularVelocityUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<AngularVelocityUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<AngularVelocityUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, MassUnit> times(Mass multiplier) {
return (Mult<AngularVelocityUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, MassUnit> divide(Mass divisor) {
return (Per<AngularVelocityUnit, MassUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<AngularVelocityUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<AngularVelocityUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<AngularVelocityUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<AngularVelocityUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<AngularVelocityUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<AngularVelocityUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, PowerUnit> times(Power multiplier) {
return (Mult<AngularVelocityUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, PowerUnit> divide(Power divisor) {
return (Per<AngularVelocityUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<AngularVelocityUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<AngularVelocityUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Angle times(Time multiplier) {
return Radians.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default AngularAcceleration divide(Time divisor) {
return RadiansPerSecondPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<AngularVelocityUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<AngularVelocityUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, TorqueUnit> divide(Torque divisor) {
return (Per<AngularVelocityUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<AngularVelocityUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<AngularVelocityUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<AngularVelocityUnit, VoltageUnit> times(Voltage multiplier) {
return (Mult<AngularVelocityUnit, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<AngularVelocityUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<AngularVelocityUnit, VoltageUnit>) Measure.super.divide(divisor);
}
default Frequency asFrequency() { return Hertz.of(baseUnitMagnitude()); }
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Current.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface Current extends Measure<CurrentUnit> {
static Current ofRelativeUnits(double magnitude, CurrentUnit unit) {
return new ImmutableCurrent(magnitude, unit.toBaseUnits(magnitude), unit);
}
static Current ofBaseUnits(double baseUnitMagnitude, CurrentUnit unit) {
return new ImmutableCurrent(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
Current copy();
@Override
default MutCurrent mutableCopy() {
return new MutCurrent(magnitude(), baseUnitMagnitude(), unit());
}
@Override
CurrentUnit unit();
@Override
default CurrentUnit baseUnit() { return (CurrentUnit) unit().getBaseUnit(); }
@Override
default double in(CurrentUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default Current unaryMinus() {
return (Current) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default Current plus(Measure<? extends CurrentUnit> other) {
return (Current) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default Current minus(Measure<? extends CurrentUnit> other) {
return (Current) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default Current times(double multiplier) {
return (Current) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default Current divide(double divisor) {
return (Current) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default Velocity<CurrentUnit> per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<CurrentUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<CurrentUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<CurrentUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, AngleUnit> times(Angle multiplier) {
return (Mult<CurrentUnit, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, AngleUnit> divide(Angle divisor) {
return (Per<CurrentUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<CurrentUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<CurrentUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<CurrentUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<CurrentUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<CurrentUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<CurrentUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, CurrentUnit> times(Current multiplier) {
return (Mult<CurrentUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(Current divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Current divide(Dimensionless divisor) {
return (Current) Amps.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Current times(Dimensionless multiplier) {
return (Current) Amps.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<CurrentUnit, DistanceUnit> times(Distance multiplier) {
return (Mult<CurrentUnit, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, DistanceUnit> divide(Distance divisor) {
return (Per<CurrentUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<CurrentUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, EnergyUnit> divide(Energy divisor) {
return (Per<CurrentUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, ForceUnit> times(Force multiplier) {
return (Mult<CurrentUnit, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, ForceUnit> divide(Force divisor) {
return (Per<CurrentUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, FrequencyUnit> times(Frequency multiplier) {
return (Mult<CurrentUnit, FrequencyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, FrequencyUnit> divide(Frequency divisor) {
return (Per<CurrentUnit, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<CurrentUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<CurrentUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<CurrentUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<CurrentUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<CurrentUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<CurrentUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, MassUnit> times(Mass multiplier) {
return (Mult<CurrentUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, MassUnit> divide(Mass divisor) {
return (Per<CurrentUnit, MassUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<CurrentUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<CurrentUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<CurrentUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<CurrentUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<CurrentUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<CurrentUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, PowerUnit> times(Power multiplier) {
return (Mult<CurrentUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, PowerUnit> divide(Power divisor) {
return (Per<CurrentUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<CurrentUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<CurrentUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, TimeUnit> times(Time multiplier) {
return (Mult<CurrentUnit, TimeUnit>) Measure.super.times(multiplier);
}
@Override
default Velocity<CurrentUnit> divide(Time divisor) {
return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<CurrentUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<CurrentUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, TorqueUnit> divide(Torque divisor) {
return (Per<CurrentUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<CurrentUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<CurrentUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<CurrentUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<CurrentUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Power times(Voltage multiplier) {
return Watts.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<CurrentUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<CurrentUnit, VoltageUnit>) Measure.super.divide(divisor);
}
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Dimensionless.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface Dimensionless extends Measure<DimensionlessUnit> {
static Dimensionless ofRelativeUnits(double magnitude, DimensionlessUnit unit) {
return new ImmutableDimensionless(magnitude, unit.toBaseUnits(magnitude), unit);
}
static Dimensionless ofBaseUnits(double baseUnitMagnitude, DimensionlessUnit unit) {
return new ImmutableDimensionless(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
Dimensionless copy();
@Override
default MutDimensionless mutableCopy() {
return new MutDimensionless(magnitude(), baseUnitMagnitude(), unit());
}
@Override
DimensionlessUnit unit();
@Override
default DimensionlessUnit baseUnit() { return (DimensionlessUnit) unit().getBaseUnit(); }
@Override
default double in(DimensionlessUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default Dimensionless unaryMinus() {
return (Dimensionless) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default Dimensionless plus(Measure<? extends DimensionlessUnit> other) {
return (Dimensionless) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default Dimensionless minus(Measure<? extends DimensionlessUnit> other) {
return (Dimensionless) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default Dimensionless times(double multiplier) {
return (Dimensionless) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default Dimensionless divide(double divisor) {
return (Dimensionless) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default Frequency per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<DimensionlessUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<DimensionlessUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<DimensionlessUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<DimensionlessUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Angle times(Angle multiplier) {
return Radians.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, AngleUnit> divide(Angle divisor) {
return (Per<DimensionlessUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default AngularAcceleration times(AngularAcceleration multiplier) {
return RadiansPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<DimensionlessUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default AngularMomentum times(AngularMomentum multiplier) {
return KilogramMetersSquaredPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<DimensionlessUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default AngularVelocity times(AngularVelocity multiplier) {
return RadiansPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<DimensionlessUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Current times(Current multiplier) {
return Amps.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, CurrentUnit> divide(Current divisor) {
return (Per<DimensionlessUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default Dimensionless divide(Dimensionless divisor) {
return (Dimensionless) Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Dimensionless times(Dimensionless multiplier) {
return (Dimensionless) Value.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Distance times(Distance multiplier) {
return Meters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, DistanceUnit> divide(Distance divisor) {
return (Per<DimensionlessUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Energy times(Energy multiplier) {
return Joules.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, EnergyUnit> divide(Energy divisor) {
return (Per<DimensionlessUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Force times(Force multiplier) {
return Newtons.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, ForceUnit> divide(Force divisor) {
return (Per<DimensionlessUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default Frequency times(Frequency multiplier) {
return Hertz.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, FrequencyUnit> divide(Frequency divisor) {
return (Per<DimensionlessUnit, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default LinearAcceleration times(LinearAcceleration multiplier) {
return MetersPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<DimensionlessUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default LinearMomentum times(LinearMomentum multiplier) {
return KilogramMetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<DimensionlessUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default LinearVelocity times(LinearVelocity multiplier) {
return MetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<DimensionlessUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mass times(Mass multiplier) {
return Kilograms.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, MassUnit> divide(Mass divisor) {
return (Per<DimensionlessUnit, MassUnit>) Measure.super.divide(divisor);
}
@Override
default MomentOfInertia times(MomentOfInertia multiplier) {
return KilogramSquareMeters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<DimensionlessUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DimensionlessUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<DimensionlessUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<DimensionlessUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<DimensionlessUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<DimensionlessUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<DimensionlessUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<DimensionlessUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<DimensionlessUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Power times(Power multiplier) {
return Watts.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, PowerUnit> divide(Power divisor) {
return (Per<DimensionlessUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Temperature times(Temperature multiplier) {
return Kelvin.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<DimensionlessUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Time times(Time multiplier) {
return Seconds.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Frequency divide(Time divisor) {
return Hertz.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Torque times(Torque multiplier) {
return NewtonMeters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, TorqueUnit> divide(Torque divisor) {
return (Per<DimensionlessUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DimensionlessUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<DimensionlessUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<DimensionlessUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<DimensionlessUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Voltage times(Voltage multiplier) {
return Volts.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DimensionlessUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<DimensionlessUnit, VoltageUnit>) Measure.super.divide(divisor);
}
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Distance.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface Distance extends Measure<DistanceUnit> {
static Distance ofRelativeUnits(double magnitude, DistanceUnit unit) {
return new ImmutableDistance(magnitude, unit.toBaseUnits(magnitude), unit);
}
static Distance ofBaseUnits(double baseUnitMagnitude, DistanceUnit unit) {
return new ImmutableDistance(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
Distance copy();
@Override
default MutDistance mutableCopy() {
return new MutDistance(magnitude(), baseUnitMagnitude(), unit());
}
@Override
DistanceUnit unit();
@Override
default DistanceUnit baseUnit() { return (DistanceUnit) unit().getBaseUnit(); }
@Override
default double in(DistanceUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default Distance unaryMinus() {
return (Distance) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default Distance plus(Measure<? extends DistanceUnit> other) {
return (Distance) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default Distance minus(Measure<? extends DistanceUnit> other) {
return (Distance) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default Distance times(double multiplier) {
return (Distance) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default Distance divide(double divisor) {
return (Distance) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default LinearVelocity per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<DistanceUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<DistanceUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<DistanceUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, AngleUnit> times(Angle multiplier) {
return (Mult<DistanceUnit, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, AngleUnit> divide(Angle divisor) {
return (Per<DistanceUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<DistanceUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<DistanceUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<DistanceUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<DistanceUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<DistanceUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<DistanceUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, CurrentUnit> times(Current multiplier) {
return (Mult<DistanceUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, CurrentUnit> divide(Current divisor) {
return (Per<DistanceUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default Distance divide(Dimensionless divisor) {
return (Distance) Meters.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Distance times(Dimensionless multiplier) {
return (Distance) Meters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<DistanceUnit, DistanceUnit> times(Distance multiplier) {
return (Mult<DistanceUnit, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(Distance divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<DistanceUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<DistanceUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, EnergyUnit> divide(Energy divisor) {
return (Per<DistanceUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Torque times(Force multiplier) {
return NewtonMeters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DistanceUnit, ForceUnit> divide(Force divisor) {
return (Per<DistanceUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default LinearVelocity times(Frequency multiplier) {
return MetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<DistanceUnit, FrequencyUnit> divide(Frequency divisor) {
return (Per<DistanceUnit, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<DistanceUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<DistanceUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<DistanceUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<DistanceUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<DistanceUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Time divide(LinearVelocity divisor) {
return Seconds.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<DistanceUnit, MassUnit> times(Mass multiplier) {
return (Mult<DistanceUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, MassUnit> divide(Mass divisor) {
return (Per<DistanceUnit, MassUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<DistanceUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<DistanceUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<DistanceUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<DistanceUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<DistanceUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<DistanceUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, PowerUnit> times(Power multiplier) {
return (Mult<DistanceUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, PowerUnit> divide(Power divisor) {
return (Per<DistanceUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<DistanceUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<DistanceUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, TimeUnit> times(Time multiplier) {
return (Mult<DistanceUnit, TimeUnit>) Measure.super.times(multiplier);
}
@Override
default LinearVelocity divide(Time divisor) {
return MetersPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<DistanceUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<DistanceUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, TorqueUnit> divide(Torque divisor) {
return (Per<DistanceUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<DistanceUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<DistanceUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<DistanceUnit, VoltageUnit> times(Voltage multiplier) {
return (Mult<DistanceUnit, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<DistanceUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<DistanceUnit, VoltageUnit>) Measure.super.divide(divisor);
}
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Energy.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface Energy extends Measure<EnergyUnit> {
static Energy ofRelativeUnits(double magnitude, EnergyUnit unit) {
return new ImmutableEnergy(magnitude, unit.toBaseUnits(magnitude), unit);
}
static Energy ofBaseUnits(double baseUnitMagnitude, EnergyUnit unit) {
return new ImmutableEnergy(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
Energy copy();
@Override
default MutEnergy mutableCopy() {
return new MutEnergy(magnitude(), baseUnitMagnitude(), unit());
}
@Override
EnergyUnit unit();
@Override
default EnergyUnit baseUnit() { return (EnergyUnit) unit().getBaseUnit(); }
@Override
default double in(EnergyUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default Energy unaryMinus() {
return (Energy) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default Energy plus(Measure<? extends EnergyUnit> other) {
return (Energy) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default Energy minus(Measure<? extends EnergyUnit> other) {
return (Energy) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default Energy times(double multiplier) {
return (Energy) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default Energy divide(double divisor) {
return (Energy) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default Power per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<EnergyUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<EnergyUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<EnergyUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, AngleUnit> times(Angle multiplier) {
return (Mult<EnergyUnit, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, AngleUnit> divide(Angle divisor) {
return (Per<EnergyUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<EnergyUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<EnergyUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<EnergyUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<EnergyUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<EnergyUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<EnergyUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, CurrentUnit> times(Current multiplier) {
return (Mult<EnergyUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, CurrentUnit> divide(Current divisor) {
return (Per<EnergyUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default Energy divide(Dimensionless divisor) {
return (Energy) Joules.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Energy times(Dimensionless multiplier) {
return (Energy) Joules.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<EnergyUnit, DistanceUnit> times(Distance multiplier) {
return (Mult<EnergyUnit, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, DistanceUnit> divide(Distance divisor) {
return (Per<EnergyUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<EnergyUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(Energy divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<EnergyUnit, ForceUnit> times(Force multiplier) {
return (Mult<EnergyUnit, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, ForceUnit> divide(Force divisor) {
return (Per<EnergyUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default Power times(Frequency multiplier) {
return Watts.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<EnergyUnit, FrequencyUnit> divide(Frequency divisor) {
return (Per<EnergyUnit, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<EnergyUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<EnergyUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<EnergyUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<EnergyUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<EnergyUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<EnergyUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, MassUnit> times(Mass multiplier) {
return (Mult<EnergyUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, MassUnit> divide(Mass divisor) {
return (Per<EnergyUnit, MassUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<EnergyUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<EnergyUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<EnergyUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<EnergyUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<EnergyUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<EnergyUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, PowerUnit> times(Power multiplier) {
return (Mult<EnergyUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, PowerUnit> divide(Power divisor) {
return (Per<EnergyUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<EnergyUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<EnergyUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, TimeUnit> times(Time multiplier) {
return (Mult<EnergyUnit, TimeUnit>) Measure.super.times(multiplier);
}
@Override
default Power divide(Time divisor) {
return Watts.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<EnergyUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<EnergyUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, TorqueUnit> divide(Torque divisor) {
return (Per<EnergyUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<EnergyUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<EnergyUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<EnergyUnit, VoltageUnit> times(Voltage multiplier) {
return (Mult<EnergyUnit, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<EnergyUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<EnergyUnit, VoltageUnit>) Measure.super.divide(divisor);
}
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Force.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface Force extends Measure<ForceUnit> {
static Force ofRelativeUnits(double magnitude, ForceUnit unit) {
return new ImmutableForce(magnitude, unit.toBaseUnits(magnitude), unit);
}
static Force ofBaseUnits(double baseUnitMagnitude, ForceUnit unit) {
return new ImmutableForce(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
Force copy();
@Override
default MutForce mutableCopy() {
return new MutForce(magnitude(), baseUnitMagnitude(), unit());
}
@Override
ForceUnit unit();
@Override
default ForceUnit baseUnit() { return (ForceUnit) unit().getBaseUnit(); }
@Override
default double in(ForceUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default Force unaryMinus() {
return (Force) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default Force plus(Measure<? extends ForceUnit> other) {
return (Force) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default Force minus(Measure<? extends ForceUnit> other) {
return (Force) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default Force times(double multiplier) {
return (Force) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default Force divide(double divisor) {
return (Force) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default Velocity<ForceUnit> per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<ForceUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<ForceUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<ForceUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, AngleUnit> times(Angle multiplier) {
return (Mult<ForceUnit, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, AngleUnit> divide(Angle divisor) {
return (Per<ForceUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<ForceUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<ForceUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<ForceUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<ForceUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<ForceUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<ForceUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, CurrentUnit> times(Current multiplier) {
return (Mult<ForceUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, CurrentUnit> divide(Current divisor) {
return (Per<ForceUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default Force divide(Dimensionless divisor) {
return (Force) Newtons.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Force times(Dimensionless multiplier) {
return (Force) Newtons.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Energy times(Distance multiplier) {
return Joules.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<ForceUnit, DistanceUnit> divide(Distance divisor) {
return (Per<ForceUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<ForceUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, EnergyUnit> divide(Energy divisor) {
return (Per<ForceUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, ForceUnit> times(Force multiplier) {
return (Mult<ForceUnit, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(Force divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<ForceUnit, FrequencyUnit> times(Frequency multiplier) {
return (Mult<ForceUnit, FrequencyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, FrequencyUnit> divide(Frequency divisor) {
return (Per<ForceUnit, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<ForceUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Mass divide(LinearAcceleration divisor) {
return Kilograms.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<ForceUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<ForceUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<ForceUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<ForceUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<ForceUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, MassUnit> times(Mass multiplier) {
return (Mult<ForceUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default LinearAcceleration divide(Mass divisor) {
return MetersPerSecondPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<ForceUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<ForceUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<ForceUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<ForceUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<ForceUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<ForceUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<ForceUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, PowerUnit> times(Power multiplier) {
return (Mult<ForceUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, PowerUnit> divide(Power divisor) {
return (Per<ForceUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<ForceUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<ForceUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, TimeUnit> times(Time multiplier) {
return (Mult<ForceUnit, TimeUnit>) Measure.super.times(multiplier);
}
@Override
default Velocity<ForceUnit> divide(Time divisor) {
return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<ForceUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<ForceUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, TorqueUnit> divide(Torque divisor) {
return (Per<ForceUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<ForceUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<ForceUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<ForceUnit, VoltageUnit> times(Voltage multiplier) {
return (Mult<ForceUnit, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<ForceUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<ForceUnit, VoltageUnit>) Measure.super.divide(divisor);
}
}

335
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Frequency.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface Frequency extends Measure<FrequencyUnit> {
static Frequency ofRelativeUnits(double magnitude, FrequencyUnit unit) {
return new ImmutableFrequency(magnitude, unit.toBaseUnits(magnitude), unit);
}
static Frequency ofBaseUnits(double baseUnitMagnitude, FrequencyUnit unit) {
return new ImmutableFrequency(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
Frequency copy();
@Override
default MutFrequency mutableCopy() {
return new MutFrequency(magnitude(), baseUnitMagnitude(), unit());
}
@Override
FrequencyUnit unit();
@Override
default FrequencyUnit baseUnit() { return (FrequencyUnit) unit().getBaseUnit(); }
@Override
default double in(FrequencyUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default Frequency unaryMinus() {
return (Frequency) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default Frequency plus(Measure<? extends FrequencyUnit> other) {
return (Frequency) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default Frequency minus(Measure<? extends FrequencyUnit> other) {
return (Frequency) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default Frequency times(double multiplier) {
return (Frequency) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default Frequency divide(double divisor) {
return (Frequency) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default Velocity<FrequencyUnit> per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<FrequencyUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<FrequencyUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<FrequencyUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default AngularVelocity times(Angle multiplier) {
return RadiansPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<FrequencyUnit, AngleUnit> divide(Angle divisor) {
return (Per<FrequencyUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<FrequencyUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<FrequencyUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<FrequencyUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<FrequencyUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default AngularAcceleration times(AngularVelocity multiplier) {
return RadiansPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<FrequencyUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<FrequencyUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, CurrentUnit> times(Current multiplier) {
return (Mult<FrequencyUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, CurrentUnit> divide(Current divisor) {
return (Per<FrequencyUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default Frequency divide(Dimensionless divisor) {
return (Frequency) Hertz.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Frequency times(Dimensionless multiplier) {
return (Frequency) Hertz.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default LinearVelocity times(Distance multiplier) {
return MetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<FrequencyUnit, DistanceUnit> divide(Distance divisor) {
return (Per<FrequencyUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<FrequencyUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, EnergyUnit> divide(Energy divisor) {
return (Per<FrequencyUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, ForceUnit> times(Force multiplier) {
return (Mult<FrequencyUnit, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, ForceUnit> divide(Force divisor) {
return (Per<FrequencyUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, FrequencyUnit> times(Frequency multiplier) {
return (Mult<FrequencyUnit, FrequencyUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(Frequency divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<FrequencyUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<FrequencyUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<FrequencyUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<FrequencyUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<FrequencyUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default LinearAcceleration times(LinearVelocity multiplier) {
return MetersPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<FrequencyUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<FrequencyUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, MassUnit> times(Mass multiplier) {
return (Mult<FrequencyUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, MassUnit> divide(Mass divisor) {
return (Per<FrequencyUnit, MassUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<FrequencyUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<FrequencyUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<FrequencyUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<FrequencyUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<FrequencyUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<FrequencyUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, PowerUnit> times(Power multiplier) {
return (Mult<FrequencyUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, PowerUnit> divide(Power divisor) {
return (Per<FrequencyUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<FrequencyUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<FrequencyUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Dimensionless times(Time multiplier) {
return Value.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Velocity<FrequencyUnit> divide(Time divisor) {
return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<FrequencyUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<FrequencyUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, TorqueUnit> divide(Torque divisor) {
return (Per<FrequencyUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<FrequencyUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<FrequencyUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<FrequencyUnit, VoltageUnit> times(Voltage multiplier) {
return (Mult<FrequencyUnit, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<FrequencyUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<FrequencyUnit, VoltageUnit>) Measure.super.divide(divisor);
}
/** Converts this frequency to the time period between cycles. */
default Time asPeriod() { return Seconds.of(1 / baseUnitMagnitude()); }
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAcceleration.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableAcceleration<D extends Unit>(double magnitude, double baseUnitMagnitude, AccelerationUnit<D> unit) implements Acceleration<D> {
@Override
public Acceleration<D> copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngle.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit) implements Angle {
@Override
public Angle copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularAcceleration.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableAngularAcceleration(double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit) implements AngularAcceleration {
@Override
public AngularAcceleration copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularMomentum.java generated Normal file
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@@ -0,0 +1,28 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableAngularMomentum(double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit) implements AngularMomentum {
@Override
public AngularMomentum copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularVelocity.java generated Normal file
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@@ -0,0 +1,28 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableAngularVelocity(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) implements AngularVelocity {
@Override
public AngularVelocity copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableCurrent.java generated Normal file
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@@ -0,0 +1,28 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableCurrent(double magnitude, double baseUnitMagnitude, CurrentUnit unit) implements Current {
@Override
public Current copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableDimensionless.java generated Normal file
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@@ -0,0 +1,28 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableDimensionless(double magnitude, double baseUnitMagnitude, DimensionlessUnit unit) implements Dimensionless {
@Override
public Dimensionless copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableDistance.java generated Normal file
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@@ -0,0 +1,28 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableDistance(double magnitude, double baseUnitMagnitude, DistanceUnit unit) implements Distance {
@Override
public Distance copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableEnergy.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableEnergy(double magnitude, double baseUnitMagnitude, EnergyUnit unit) implements Energy {
@Override
public Energy copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableForce.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableForce(double magnitude, double baseUnitMagnitude, ForceUnit unit) implements Force {
@Override
public Force copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableFrequency.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableFrequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit) implements Frequency {
@Override
public Frequency copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearAcceleration.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableLinearAcceleration(double magnitude, double baseUnitMagnitude, LinearAccelerationUnit unit) implements LinearAcceleration {
@Override
public LinearAcceleration copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearMomentum.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableLinearMomentum(double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit) implements LinearMomentum {
@Override
public LinearMomentum copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearVelocity.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableLinearVelocity(double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) implements LinearVelocity {
@Override
public LinearVelocity copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMass.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableMass(double magnitude, double baseUnitMagnitude, MassUnit unit) implements Mass {
@Override
public Mass copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMomentOfInertia.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableMomentOfInertia(double magnitude, double baseUnitMagnitude, MomentOfInertiaUnit unit) implements MomentOfInertia {
@Override
public MomentOfInertia copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMult.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableMult<A extends Unit, B extends Unit>(double magnitude, double baseUnitMagnitude, MultUnit<A, B> unit) implements Mult<A, B> {
@Override
public Mult<A, B> copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutablePer.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutablePer<Dividend extends Unit, Divisor extends Unit>(double magnitude, double baseUnitMagnitude, PerUnit<Dividend, Divisor> unit) implements Per<Dividend, Divisor> {
@Override
public Per<Dividend, Divisor> copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutablePower.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutablePower(double magnitude, double baseUnitMagnitude, PowerUnit unit) implements Power {
@Override
public Power copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTemperature.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableTemperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit) implements Temperature {
@Override
public Temperature copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTime.java generated Normal file
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@@ -0,0 +1,28 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableTime(double magnitude, double baseUnitMagnitude, TimeUnit unit) implements Time {
@Override
public Time copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTorque.java generated Normal file
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@@ -0,0 +1,28 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableTorque(double magnitude, double baseUnitMagnitude, TorqueUnit unit) implements Torque {
@Override
public Torque copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableVelocity.java generated Normal file
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@@ -0,0 +1,28 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableVelocity<D extends Unit>(double magnitude, double baseUnitMagnitude, VelocityUnit<D> unit) implements Velocity<D> {
@Override
public Velocity<D> copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

28
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableVoltage.java generated Normal file
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@@ -0,0 +1,28 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record ImmutableVoltage(double magnitude, double baseUnitMagnitude, VoltageUnit unit) implements Voltage {
@Override
public Voltage copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearAcceleration.java generated Normal file
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@@ -0,0 +1,334 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface LinearAcceleration extends Measure<LinearAccelerationUnit> {
static LinearAcceleration ofRelativeUnits(double magnitude, LinearAccelerationUnit unit) {
return new ImmutableLinearAcceleration(magnitude, unit.toBaseUnits(magnitude), unit);
}
static LinearAcceleration ofBaseUnits(double baseUnitMagnitude, LinearAccelerationUnit unit) {
return new ImmutableLinearAcceleration(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
LinearAcceleration copy();
@Override
default MutLinearAcceleration mutableCopy() {
return new MutLinearAcceleration(magnitude(), baseUnitMagnitude(), unit());
}
@Override
LinearAccelerationUnit unit();
@Override
default LinearAccelerationUnit baseUnit() { return (LinearAccelerationUnit) unit().getBaseUnit(); }
@Override
default double in(LinearAccelerationUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default LinearAcceleration unaryMinus() {
return (LinearAcceleration) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default LinearAcceleration plus(Measure<? extends LinearAccelerationUnit> other) {
return (LinearAcceleration) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default LinearAcceleration minus(Measure<? extends LinearAccelerationUnit> other) {
return (LinearAcceleration) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default LinearAcceleration times(double multiplier) {
return (LinearAcceleration) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default LinearAcceleration divide(double divisor) {
return (LinearAcceleration) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default Velocity<LinearAccelerationUnit> per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<LinearAccelerationUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<LinearAccelerationUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<LinearAccelerationUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, AngleUnit> times(Angle multiplier) {
return (Mult<LinearAccelerationUnit, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, AngleUnit> divide(Angle divisor) {
return (Per<LinearAccelerationUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<LinearAccelerationUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<LinearAccelerationUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<LinearAccelerationUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<LinearAccelerationUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<LinearAccelerationUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<LinearAccelerationUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, CurrentUnit> times(Current multiplier) {
return (Mult<LinearAccelerationUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, CurrentUnit> divide(Current divisor) {
return (Per<LinearAccelerationUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default LinearAcceleration divide(Dimensionless divisor) {
return (LinearAcceleration) MetersPerSecondPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default LinearAcceleration times(Dimensionless multiplier) {
return (LinearAcceleration) MetersPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<LinearAccelerationUnit, DistanceUnit> times(Distance multiplier) {
return (Mult<LinearAccelerationUnit, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, DistanceUnit> divide(Distance divisor) {
return (Per<LinearAccelerationUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<LinearAccelerationUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, EnergyUnit> divide(Energy divisor) {
return (Per<LinearAccelerationUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, ForceUnit> times(Force multiplier) {
return (Mult<LinearAccelerationUnit, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, ForceUnit> divide(Force divisor) {
return (Per<LinearAccelerationUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, FrequencyUnit> times(Frequency multiplier) {
return (Mult<LinearAccelerationUnit, FrequencyUnit>) Measure.super.times(multiplier);
}
@Override
default LinearVelocity divide(Frequency divisor) {
return MetersPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<LinearAccelerationUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<LinearAccelerationUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(LinearAcceleration divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<LinearAccelerationUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<LinearAccelerationUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<LinearAccelerationUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<LinearAccelerationUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<LinearAccelerationUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, MassUnit> times(Mass multiplier) {
return (Mult<LinearAccelerationUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, MassUnit> divide(Mass divisor) {
return (Per<LinearAccelerationUnit, MassUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<LinearAccelerationUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<LinearAccelerationUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<LinearAccelerationUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<LinearAccelerationUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<LinearAccelerationUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<LinearAccelerationUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, PowerUnit> times(Power multiplier) {
return (Mult<LinearAccelerationUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, PowerUnit> divide(Power divisor) {
return (Per<LinearAccelerationUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<LinearAccelerationUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<LinearAccelerationUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default LinearVelocity times(Time multiplier) {
return MetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Velocity<LinearAccelerationUnit> divide(Time divisor) {
return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<LinearAccelerationUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<LinearAccelerationUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, TorqueUnit> divide(Torque divisor) {
return (Per<LinearAccelerationUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<LinearAccelerationUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<LinearAccelerationUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearAccelerationUnit, VoltageUnit> times(Voltage multiplier) {
return (Mult<LinearAccelerationUnit, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearAccelerationUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<LinearAccelerationUnit, VoltageUnit>) Measure.super.divide(divisor);
}
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearMomentum.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface LinearMomentum extends Measure<LinearMomentumUnit> {
static LinearMomentum ofRelativeUnits(double magnitude, LinearMomentumUnit unit) {
return new ImmutableLinearMomentum(magnitude, unit.toBaseUnits(magnitude), unit);
}
static LinearMomentum ofBaseUnits(double baseUnitMagnitude, LinearMomentumUnit unit) {
return new ImmutableLinearMomentum(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
LinearMomentum copy();
@Override
default MutLinearMomentum mutableCopy() {
return new MutLinearMomentum(magnitude(), baseUnitMagnitude(), unit());
}
@Override
LinearMomentumUnit unit();
@Override
default LinearMomentumUnit baseUnit() { return (LinearMomentumUnit) unit().getBaseUnit(); }
@Override
default double in(LinearMomentumUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default LinearMomentum unaryMinus() {
return (LinearMomentum) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default LinearMomentum plus(Measure<? extends LinearMomentumUnit> other) {
return (LinearMomentum) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default LinearMomentum minus(Measure<? extends LinearMomentumUnit> other) {
return (LinearMomentum) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default LinearMomentum times(double multiplier) {
return (LinearMomentum) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default LinearMomentum divide(double divisor) {
return (LinearMomentum) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default Force per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<LinearMomentumUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<LinearMomentumUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<LinearMomentumUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, AngleUnit> times(Angle multiplier) {
return (Mult<LinearMomentumUnit, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, AngleUnit> divide(Angle divisor) {
return (Per<LinearMomentumUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<LinearMomentumUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<LinearMomentumUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<LinearMomentumUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<LinearMomentumUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<LinearMomentumUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<LinearMomentumUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, CurrentUnit> times(Current multiplier) {
return (Mult<LinearMomentumUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, CurrentUnit> divide(Current divisor) {
return (Per<LinearMomentumUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default LinearMomentum divide(Dimensionless divisor) {
return (LinearMomentum) KilogramMetersPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default LinearMomentum times(Dimensionless multiplier) {
return (LinearMomentum) KilogramMetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<LinearMomentumUnit, DistanceUnit> times(Distance multiplier) {
return (Mult<LinearMomentumUnit, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, DistanceUnit> divide(Distance divisor) {
return (Per<LinearMomentumUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<LinearMomentumUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, EnergyUnit> divide(Energy divisor) {
return (Per<LinearMomentumUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, ForceUnit> times(Force multiplier) {
return (Mult<LinearMomentumUnit, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, ForceUnit> divide(Force divisor) {
return (Per<LinearMomentumUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default Force times(Frequency multiplier) {
return Newtons.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<LinearMomentumUnit, FrequencyUnit> divide(Frequency divisor) {
return (Per<LinearMomentumUnit, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<LinearMomentumUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<LinearMomentumUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<LinearMomentumUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(LinearMomentum divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<LinearMomentumUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<LinearMomentumUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Mass divide(LinearVelocity divisor) {
return Kilograms.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<LinearMomentumUnit, MassUnit> times(Mass multiplier) {
return (Mult<LinearMomentumUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default LinearVelocity divide(Mass divisor) {
return MetersPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<LinearMomentumUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<LinearMomentumUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<LinearMomentumUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<LinearMomentumUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<LinearMomentumUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<LinearMomentumUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<LinearMomentumUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, PowerUnit> times(Power multiplier) {
return (Mult<LinearMomentumUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, PowerUnit> divide(Power divisor) {
return (Per<LinearMomentumUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<LinearMomentumUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<LinearMomentumUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, TimeUnit> times(Time multiplier) {
return (Mult<LinearMomentumUnit, TimeUnit>) Measure.super.times(multiplier);
}
@Override
default Force divide(Time divisor) {
return Newtons.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<LinearMomentumUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<LinearMomentumUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, TorqueUnit> divide(Torque divisor) {
return (Per<LinearMomentumUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<LinearMomentumUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<LinearMomentumUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearMomentumUnit, VoltageUnit> times(Voltage multiplier) {
return (Mult<LinearMomentumUnit, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearMomentumUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<LinearMomentumUnit, VoltageUnit>) Measure.super.divide(divisor);
}
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearVelocity.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface LinearVelocity extends Measure<LinearVelocityUnit> {
static LinearVelocity ofRelativeUnits(double magnitude, LinearVelocityUnit unit) {
return new ImmutableLinearVelocity(magnitude, unit.toBaseUnits(magnitude), unit);
}
static LinearVelocity ofBaseUnits(double baseUnitMagnitude, LinearVelocityUnit unit) {
return new ImmutableLinearVelocity(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
LinearVelocity copy();
@Override
default MutLinearVelocity mutableCopy() {
return new MutLinearVelocity(magnitude(), baseUnitMagnitude(), unit());
}
@Override
LinearVelocityUnit unit();
@Override
default LinearVelocityUnit baseUnit() { return (LinearVelocityUnit) unit().getBaseUnit(); }
@Override
default double in(LinearVelocityUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default LinearVelocity unaryMinus() {
return (LinearVelocity) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default LinearVelocity plus(Measure<? extends LinearVelocityUnit> other) {
return (LinearVelocity) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default LinearVelocity minus(Measure<? extends LinearVelocityUnit> other) {
return (LinearVelocity) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default LinearVelocity times(double multiplier) {
return (LinearVelocity) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default LinearVelocity divide(double divisor) {
return (LinearVelocity) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default LinearAcceleration per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<LinearVelocityUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<LinearVelocityUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<LinearVelocityUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, AngleUnit> times(Angle multiplier) {
return (Mult<LinearVelocityUnit, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, AngleUnit> divide(Angle divisor) {
return (Per<LinearVelocityUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<LinearVelocityUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<LinearVelocityUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<LinearVelocityUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<LinearVelocityUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<LinearVelocityUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<LinearVelocityUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, CurrentUnit> times(Current multiplier) {
return (Mult<LinearVelocityUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, CurrentUnit> divide(Current divisor) {
return (Per<LinearVelocityUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default LinearVelocity divide(Dimensionless divisor) {
return (LinearVelocity) MetersPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default LinearVelocity times(Dimensionless multiplier) {
return (LinearVelocity) MetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<LinearVelocityUnit, DistanceUnit> times(Distance multiplier) {
return (Mult<LinearVelocityUnit, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, DistanceUnit> divide(Distance divisor) {
return (Per<LinearVelocityUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<LinearVelocityUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, EnergyUnit> divide(Energy divisor) {
return (Per<LinearVelocityUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, ForceUnit> times(Force multiplier) {
return (Mult<LinearVelocityUnit, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, ForceUnit> divide(Force divisor) {
return (Per<LinearVelocityUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default LinearAcceleration times(Frequency multiplier) {
return MetersPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<LinearVelocityUnit, FrequencyUnit> divide(Frequency divisor) {
return (Per<LinearVelocityUnit, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<LinearVelocityUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<LinearVelocityUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<LinearVelocityUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<LinearVelocityUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<LinearVelocityUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(LinearVelocity divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<LinearVelocityUnit, MassUnit> times(Mass multiplier) {
return (Mult<LinearVelocityUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, MassUnit> divide(Mass divisor) {
return (Per<LinearVelocityUnit, MassUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<LinearVelocityUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<LinearVelocityUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<LinearVelocityUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<LinearVelocityUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<LinearVelocityUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<LinearVelocityUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, PowerUnit> times(Power multiplier) {
return (Mult<LinearVelocityUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, PowerUnit> divide(Power divisor) {
return (Per<LinearVelocityUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<LinearVelocityUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<LinearVelocityUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Distance times(Time multiplier) {
return Meters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default LinearAcceleration divide(Time divisor) {
return MetersPerSecondPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<LinearVelocityUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<LinearVelocityUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, TorqueUnit> divide(Torque divisor) {
return (Per<LinearVelocityUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<LinearVelocityUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<LinearVelocityUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<LinearVelocityUnit, VoltageUnit> times(Voltage multiplier) {
return (Mult<LinearVelocityUnit, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<LinearVelocityUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<LinearVelocityUnit, VoltageUnit>) Measure.super.divide(divisor);
}
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Mass.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface Mass extends Measure<MassUnit> {
static Mass ofRelativeUnits(double magnitude, MassUnit unit) {
return new ImmutableMass(magnitude, unit.toBaseUnits(magnitude), unit);
}
static Mass ofBaseUnits(double baseUnitMagnitude, MassUnit unit) {
return new ImmutableMass(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
Mass copy();
@Override
default MutMass mutableCopy() {
return new MutMass(magnitude(), baseUnitMagnitude(), unit());
}
@Override
MassUnit unit();
@Override
default MassUnit baseUnit() { return (MassUnit) unit().getBaseUnit(); }
@Override
default double in(MassUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default Mass unaryMinus() {
return (Mass) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default Mass plus(Measure<? extends MassUnit> other) {
return (Mass) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default Mass minus(Measure<? extends MassUnit> other) {
return (Mass) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default Mass times(double multiplier) {
return (Mass) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default Mass divide(double divisor) {
return (Mass) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default Velocity<MassUnit> per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<MassUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<MassUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<MassUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, AngleUnit> times(Angle multiplier) {
return (Mult<MassUnit, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, AngleUnit> divide(Angle divisor) {
return (Per<MassUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<MassUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<MassUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<MassUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<MassUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<MassUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<MassUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, CurrentUnit> times(Current multiplier) {
return (Mult<MassUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, CurrentUnit> divide(Current divisor) {
return (Per<MassUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default Mass divide(Dimensionless divisor) {
return (Mass) Kilograms.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mass times(Dimensionless multiplier) {
return (Mass) Kilograms.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<MassUnit, DistanceUnit> times(Distance multiplier) {
return (Mult<MassUnit, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, DistanceUnit> divide(Distance divisor) {
return (Per<MassUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<MassUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, EnergyUnit> divide(Energy divisor) {
return (Per<MassUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, ForceUnit> times(Force multiplier) {
return (Mult<MassUnit, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, ForceUnit> divide(Force divisor) {
return (Per<MassUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, FrequencyUnit> times(Frequency multiplier) {
return (Mult<MassUnit, FrequencyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, FrequencyUnit> divide(Frequency divisor) {
return (Per<MassUnit, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default Force times(LinearAcceleration multiplier) {
return Newtons.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<MassUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<MassUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<MassUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<MassUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<MassUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<MassUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, MassUnit> times(Mass multiplier) {
return (Mult<MassUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(Mass divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<MassUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<MassUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<MassUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<MassUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<MassUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<MassUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<MassUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, PowerUnit> times(Power multiplier) {
return (Mult<MassUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, PowerUnit> divide(Power divisor) {
return (Per<MassUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<MassUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<MassUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, TimeUnit> times(Time multiplier) {
return (Mult<MassUnit, TimeUnit>) Measure.super.times(multiplier);
}
@Override
default Velocity<MassUnit> divide(Time divisor) {
return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<MassUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<MassUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, TorqueUnit> divide(Torque divisor) {
return (Per<MassUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<MassUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<MassUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<MassUnit, VoltageUnit> times(Voltage multiplier) {
return (Mult<MassUnit, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MassUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<MassUnit, VoltageUnit>) Measure.super.divide(divisor);
}
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MomentOfInertia.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface MomentOfInertia extends Measure<MomentOfInertiaUnit> {
static MomentOfInertia ofRelativeUnits(double magnitude, MomentOfInertiaUnit unit) {
return new ImmutableMomentOfInertia(magnitude, unit.toBaseUnits(magnitude), unit);
}
static MomentOfInertia ofBaseUnits(double baseUnitMagnitude, MomentOfInertiaUnit unit) {
return new ImmutableMomentOfInertia(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
MomentOfInertia copy();
@Override
default MutMomentOfInertia mutableCopy() {
return new MutMomentOfInertia(magnitude(), baseUnitMagnitude(), unit());
}
@Override
MomentOfInertiaUnit unit();
@Override
default MomentOfInertiaUnit baseUnit() { return (MomentOfInertiaUnit) unit().getBaseUnit(); }
@Override
default double in(MomentOfInertiaUnit unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default MomentOfInertia unaryMinus() {
return (MomentOfInertia) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default MomentOfInertia plus(Measure<? extends MomentOfInertiaUnit> other) {
return (MomentOfInertia) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default MomentOfInertia minus(Measure<? extends MomentOfInertiaUnit> other) {
return (MomentOfInertia) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default MomentOfInertia times(double multiplier) {
return (MomentOfInertia) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default MomentOfInertia divide(double divisor) {
return (MomentOfInertia) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default Velocity<MomentOfInertiaUnit> per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<MomentOfInertiaUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<MomentOfInertiaUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<MomentOfInertiaUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, AngleUnit> times(Angle multiplier) {
return (Mult<MomentOfInertiaUnit, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, AngleUnit> divide(Angle divisor) {
return (Per<MomentOfInertiaUnit, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<MomentOfInertiaUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<MomentOfInertiaUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<MomentOfInertiaUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<MomentOfInertiaUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default AngularMomentum times(AngularVelocity multiplier) {
return KilogramMetersSquaredPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Per<MomentOfInertiaUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<MomentOfInertiaUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, CurrentUnit> times(Current multiplier) {
return (Mult<MomentOfInertiaUnit, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, CurrentUnit> divide(Current divisor) {
return (Per<MomentOfInertiaUnit, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default MomentOfInertia divide(Dimensionless divisor) {
return (MomentOfInertia) KilogramSquareMeters.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default MomentOfInertia times(Dimensionless multiplier) {
return (MomentOfInertia) KilogramSquareMeters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<MomentOfInertiaUnit, DistanceUnit> times(Distance multiplier) {
return (Mult<MomentOfInertiaUnit, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, DistanceUnit> divide(Distance divisor) {
return (Per<MomentOfInertiaUnit, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, EnergyUnit> times(Energy multiplier) {
return (Mult<MomentOfInertiaUnit, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, EnergyUnit> divide(Energy divisor) {
return (Per<MomentOfInertiaUnit, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, ForceUnit> times(Force multiplier) {
return (Mult<MomentOfInertiaUnit, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, ForceUnit> divide(Force divisor) {
return (Per<MomentOfInertiaUnit, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, FrequencyUnit> times(Frequency multiplier) {
return (Mult<MomentOfInertiaUnit, FrequencyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, FrequencyUnit> divide(Frequency divisor) {
return (Per<MomentOfInertiaUnit, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<MomentOfInertiaUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<MomentOfInertiaUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<MomentOfInertiaUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<MomentOfInertiaUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<MomentOfInertiaUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<MomentOfInertiaUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, MassUnit> times(Mass multiplier) {
return (Mult<MomentOfInertiaUnit, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, MassUnit> divide(Mass divisor) {
return (Per<MomentOfInertiaUnit, MassUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<MomentOfInertiaUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Dimensionless divide(MomentOfInertia divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<MomentOfInertiaUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<MomentOfInertiaUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<MomentOfInertiaUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<MomentOfInertiaUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<MomentOfInertiaUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, PowerUnit> times(Power multiplier) {
return (Mult<MomentOfInertiaUnit, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, PowerUnit> divide(Power divisor) {
return (Per<MomentOfInertiaUnit, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, TemperatureUnit> times(Temperature multiplier) {
return (Mult<MomentOfInertiaUnit, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, TemperatureUnit> divide(Temperature divisor) {
return (Per<MomentOfInertiaUnit, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, TimeUnit> times(Time multiplier) {
return (Mult<MomentOfInertiaUnit, TimeUnit>) Measure.super.times(multiplier);
}
@Override
default Velocity<MomentOfInertiaUnit> divide(Time divisor) {
return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<MomentOfInertiaUnit, TorqueUnit> times(Torque multiplier) {
return (Mult<MomentOfInertiaUnit, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, TorqueUnit> divide(Torque divisor) {
return (Per<MomentOfInertiaUnit, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<MomentOfInertiaUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<MomentOfInertiaUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<MomentOfInertiaUnit, VoltageUnit> times(Voltage multiplier) {
return (Mult<MomentOfInertiaUnit, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MomentOfInertiaUnit, VoltageUnit> divide(Voltage divisor) {
return (Per<MomentOfInertiaUnit, VoltageUnit>) Measure.super.divide(divisor);
}
}

334
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Mult.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface Mult<A extends Unit, B extends Unit> extends Measure<MultUnit<A, B>> {
static <A extends Unit, B extends Unit> Mult<A, B> ofRelativeUnits(double magnitude, MultUnit<A, B> unit) {
return new ImmutableMult<A, B>(magnitude, unit.toBaseUnits(magnitude), unit);
}
static <A extends Unit, B extends Unit> Mult<A, B> ofBaseUnits(double baseUnitMagnitude, MultUnit<A, B> unit) {
return new ImmutableMult<A, B>(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
Mult<A, B> copy();
@Override
default MutMult<A, B> mutableCopy() {
return new MutMult<A, B>(magnitude(), baseUnitMagnitude(), unit());
}
@Override
MultUnit<A, B> unit();
@Override
default MultUnit<A, B> baseUnit() { return (MultUnit<A, B>) unit().getBaseUnit(); }
@Override
default double in(MultUnit<A, B> unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default Mult<A, B> unaryMinus() {
return (Mult<A, B>) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@Override
default Mult<A, B> plus(Measure<? extends MultUnit<A, B>> other) {
return (Mult<A, B>) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default Mult<A, B> minus(Measure<? extends MultUnit<A, B>> other) {
return (Mult<A, B>) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default Mult<A, B> times(double multiplier) {
return (Mult<A, B>) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default Mult<A, B> divide(double divisor) {
return (Mult<A, B>) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@Override
default Velocity<MultUnit<A, B>> per(TimeUnit period) {
return divide(period.of(1));
}
@Override
default Mult<MultUnit<A, B>, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
return (Mult<MultUnit<A, B>, AccelerationUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
return (Per<MultUnit<A, B>, AccelerationUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, AngleUnit> times(Angle multiplier) {
return (Mult<MultUnit<A, B>, AngleUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, AngleUnit> divide(Angle divisor) {
return (Per<MultUnit<A, B>, AngleUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
return (Mult<MultUnit<A, B>, AngularAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
return (Per<MultUnit<A, B>, AngularAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, AngularMomentumUnit> times(AngularMomentum multiplier) {
return (Mult<MultUnit<A, B>, AngularMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, AngularMomentumUnit> divide(AngularMomentum divisor) {
return (Per<MultUnit<A, B>, AngularMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, AngularVelocityUnit> times(AngularVelocity multiplier) {
return (Mult<MultUnit<A, B>, AngularVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, AngularVelocityUnit> divide(AngularVelocity divisor) {
return (Per<MultUnit<A, B>, AngularVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, CurrentUnit> times(Current multiplier) {
return (Mult<MultUnit<A, B>, CurrentUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, CurrentUnit> divide(Current divisor) {
return (Per<MultUnit<A, B>, CurrentUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<A, B> divide(Dimensionless divisor) {
return (Mult<A, B>) unit().of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<A, B> times(Dimensionless multiplier) {
return (Mult<A, B>) unit().of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
@Override
default Mult<MultUnit<A, B>, DistanceUnit> times(Distance multiplier) {
return (Mult<MultUnit<A, B>, DistanceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, DistanceUnit> divide(Distance divisor) {
return (Per<MultUnit<A, B>, DistanceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, EnergyUnit> times(Energy multiplier) {
return (Mult<MultUnit<A, B>, EnergyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, EnergyUnit> divide(Energy divisor) {
return (Per<MultUnit<A, B>, EnergyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, ForceUnit> times(Force multiplier) {
return (Mult<MultUnit<A, B>, ForceUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, ForceUnit> divide(Force divisor) {
return (Per<MultUnit<A, B>, ForceUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, FrequencyUnit> times(Frequency multiplier) {
return (Mult<MultUnit<A, B>, FrequencyUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, FrequencyUnit> divide(Frequency divisor) {
return (Per<MultUnit<A, B>, FrequencyUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
return (Mult<MultUnit<A, B>, LinearAccelerationUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
return (Per<MultUnit<A, B>, LinearAccelerationUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, LinearMomentumUnit> times(LinearMomentum multiplier) {
return (Mult<MultUnit<A, B>, LinearMomentumUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, LinearMomentumUnit> divide(LinearMomentum divisor) {
return (Per<MultUnit<A, B>, LinearMomentumUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, LinearVelocityUnit> times(LinearVelocity multiplier) {
return (Mult<MultUnit<A, B>, LinearVelocityUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, LinearVelocityUnit> divide(LinearVelocity divisor) {
return (Per<MultUnit<A, B>, LinearVelocityUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, MassUnit> times(Mass multiplier) {
return (Mult<MultUnit<A, B>, MassUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, MassUnit> divide(Mass divisor) {
return (Per<MultUnit<A, B>, MassUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
return (Mult<MultUnit<A, B>, MomentOfInertiaUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
return (Per<MultUnit<A, B>, MomentOfInertiaUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
return (Mult<MultUnit<A, B>, MultUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
return (Per<MultUnit<A, B>, MultUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
return (Mult<MultUnit<A, B>, PerUnit<?, ?>>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
return (Per<MultUnit<A, B>, PerUnit<?, ?>>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, PowerUnit> times(Power multiplier) {
return (Mult<MultUnit<A, B>, PowerUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, PowerUnit> divide(Power divisor) {
return (Per<MultUnit<A, B>, PowerUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, TemperatureUnit> times(Temperature multiplier) {
return (Mult<MultUnit<A, B>, TemperatureUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, TemperatureUnit> divide(Temperature divisor) {
return (Per<MultUnit<A, B>, TemperatureUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, TimeUnit> times(Time multiplier) {
return (Mult<MultUnit<A, B>, TimeUnit>) Measure.super.times(multiplier);
}
@Override
default Velocity<MultUnit<A, B>> divide(Time divisor) {
return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@Override
default Mult<MultUnit<A, B>, TorqueUnit> times(Torque multiplier) {
return (Mult<MultUnit<A, B>, TorqueUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, TorqueUnit> divide(Torque divisor) {
return (Per<MultUnit<A, B>, TorqueUnit>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, VelocityUnit<?>> times(Velocity<?> multiplier) {
return (Mult<MultUnit<A, B>, VelocityUnit<?>>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, VelocityUnit<?>> divide(Velocity<?> divisor) {
return (Per<MultUnit<A, B>, VelocityUnit<?>>) Measure.super.divide(divisor);
}
@Override
default Mult<MultUnit<A, B>, VoltageUnit> times(Voltage multiplier) {
return (Mult<MultUnit<A, B>, VoltageUnit>) Measure.super.times(multiplier);
}
@Override
default Per<MultUnit<A, B>, VoltageUnit> divide(Voltage divisor) {
return (Per<MultUnit<A, B>, VoltageUnit>) Measure.super.divide(divisor);
}
}

25
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAcceleration.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
import edu.wpi.first.units.mutable.MutableMeasureBase;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public final class MutAcceleration<D extends Unit>
extends MutableMeasureBase<AccelerationUnit<D>, Acceleration<D>, MutAcceleration<D>>
implements Acceleration<D> {
public MutAcceleration(double magnitude, double baseUnitMagnitude, AccelerationUnit<D> unit) {
super(magnitude, baseUnitMagnitude, unit);
}
@Override
public Acceleration<D> copy() {
return new ImmutableAcceleration<D>(magnitude(), baseUnitMagnitude(), unit());
}
}

25
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngle.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
import edu.wpi.first.units.mutable.MutableMeasureBase;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public final class MutAngle
extends MutableMeasureBase<AngleUnit, Angle, MutAngle>
implements Angle {
public MutAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit) {
super(magnitude, baseUnitMagnitude, unit);
}
@Override
public Angle copy() {
return new ImmutableAngle(magnitude(), baseUnitMagnitude(), unit());
}
}

25
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularAcceleration.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
import edu.wpi.first.units.mutable.MutableMeasureBase;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public final class MutAngularAcceleration
extends MutableMeasureBase<AngularAccelerationUnit, AngularAcceleration, MutAngularAcceleration>
implements AngularAcceleration {
public MutAngularAcceleration(double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit) {
super(magnitude, baseUnitMagnitude, unit);
}
@Override
public AngularAcceleration copy() {
return new ImmutableAngularAcceleration(magnitude(), baseUnitMagnitude(), unit());
}
}

25
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularMomentum.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
import edu.wpi.first.units.mutable.MutableMeasureBase;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public final class MutAngularMomentum
extends MutableMeasureBase<AngularMomentumUnit, AngularMomentum, MutAngularMomentum>
implements AngularMomentum {
public MutAngularMomentum(double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit) {
super(magnitude, baseUnitMagnitude, unit);
}
@Override
public AngularMomentum copy() {
return new ImmutableAngularMomentum(magnitude(), baseUnitMagnitude(), unit());
}
}

25
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularVelocity.java generated Normal file
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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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
import edu.wpi.first.units.mutable.MutableMeasureBase;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public final class MutAngularVelocity
extends MutableMeasureBase<AngularVelocityUnit, AngularVelocity, MutAngularVelocity>
implements AngularVelocity {
public MutAngularVelocity(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) {
super(magnitude, baseUnitMagnitude, unit);
}
@Override
public AngularVelocity copy() {
return new ImmutableAngularVelocity(magnitude(), baseUnitMagnitude(), unit());
}
}

25
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutCurrent.java generated Normal file
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@@ -0,0 +1,25 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
import edu.wpi.first.units.mutable.MutableMeasureBase;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public final class MutCurrent
extends MutableMeasureBase<CurrentUnit, Current, MutCurrent>
implements Current {
public MutCurrent(double magnitude, double baseUnitMagnitude, CurrentUnit unit) {
super(magnitude, baseUnitMagnitude, unit);
}
@Override
public Current copy() {
return new ImmutableCurrent(magnitude(), baseUnitMagnitude(), unit());
}
}

25
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDimensionless.java generated Normal file
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@@ -0,0 +1,25 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
import edu.wpi.first.units.mutable.MutableMeasureBase;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public final class MutDimensionless
extends MutableMeasureBase<DimensionlessUnit, Dimensionless, MutDimensionless>
implements Dimensionless {
public MutDimensionless(double magnitude, double baseUnitMagnitude, DimensionlessUnit unit) {
super(magnitude, baseUnitMagnitude, unit);
}
@Override
public Dimensionless copy() {
return new ImmutableDimensionless(magnitude(), baseUnitMagnitude(), unit());
}
}

25
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDistance.java generated Normal file
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@@ -0,0 +1,25 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
import edu.wpi.first.units.mutable.MutableMeasureBase;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public final class MutDistance
extends MutableMeasureBase<DistanceUnit, Distance, MutDistance>
implements Distance {
public MutDistance(double magnitude, double baseUnitMagnitude, DistanceUnit unit) {
super(magnitude, baseUnitMagnitude, unit);
}
@Override
public Distance copy() {
return new ImmutableDistance(magnitude(), baseUnitMagnitude(), unit());
}
}

25
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutEnergy.java generated Normal file
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@@ -0,0 +1,25 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
import edu.wpi.first.units.mutable.MutableMeasureBase;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public final class MutEnergy
extends MutableMeasureBase<EnergyUnit, Energy, MutEnergy>
implements Energy {
public MutEnergy(double magnitude, double baseUnitMagnitude, EnergyUnit unit) {
super(magnitude, baseUnitMagnitude, unit);
}
@Override
public Energy copy() {
return new ImmutableEnergy(magnitude(), baseUnitMagnitude(), unit());
}
}

25
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutForce.java generated Normal file
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@@ -0,0 +1,25 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
import edu.wpi.first.units.mutable.MutableMeasureBase;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public final class MutForce
extends MutableMeasureBase<ForceUnit, Force, MutForce>
implements Force {
public MutForce(double magnitude, double baseUnitMagnitude, ForceUnit unit) {
super(magnitude, baseUnitMagnitude, unit);
}
@Override
public Force copy() {
return new ImmutableForce(magnitude(), baseUnitMagnitude(), unit());
}
}

25
wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutFrequency.java generated Normal file
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@@ -0,0 +1,25 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
import edu.wpi.first.units.mutable.MutableMeasureBase;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public final class MutFrequency
extends MutableMeasureBase<FrequencyUnit, Frequency, MutFrequency>
implements Frequency {
public MutFrequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit) {
super(magnitude, baseUnitMagnitude, unit);
}
@Override
public Frequency copy() {
return new ImmutableFrequency(magnitude(), baseUnitMagnitude(), unit());
}
}

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