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