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bb05e20247
This implements de/serialization for the types that aren't templated (SwerveDriveKinematics) in C++ or where there is no trivial way to go round-trip (Splines) for the messages.
48 lines
1.2 KiB
C++
48 lines
1.2 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/MathExtras.h>
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#include <wpi/SymbolExports.h>
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#include "frc/geometry/Rotation2d.h"
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#include "units/angle.h"
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#include "units/length.h"
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#include "units/math.h"
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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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bool operator==(const SwerveModulePosition& other) const;
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SwerveModulePosition Interpolate(const SwerveModulePosition& endValue,
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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 "frc/kinematics/proto/SwerveModulePositionProto.h"
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#include "frc/kinematics/struct/SwerveModulePositionStruct.h"
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