allwpilib/wpiunits/src/main/java/org/wpilib/units/AngularVelocityUnit.java

// 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.

package edu.wpi.first.units;

import edu.wpi.first.units.measure.AngularVelocity;

/** A unit of angular velocity like {@link Units#RadiansPerSecond}. */
public final class AngularVelocityUnit extends PerUnit<AngleUnit, TimeUnit> {
  private static final CombinatoryUnitCache<AngleUnit, TimeUnit, AngularVelocityUnit> cache =
      new CombinatoryUnitCache<>(AngularVelocityUnit::new);

  AngularVelocityUnit(AngleUnit numerator, TimeUnit denominator) {
    super(
        numerator.isBaseUnit() && denominator.isBaseUnit()
            ? null
            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
        numerator,
        denominator);
  }

  AngularVelocityUnit(
      AngularVelocityUnit baseUnit,
      UnaryFunction toBaseConverter,
      UnaryFunction fromBaseConverter,
      String name,
      String symbol) {
    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
  }

  /**
   * Combines an angle unit and a period of time into a unit of angular velocity.
   *
   * @param angle the unit of the changing angle
   * @param time the period of the changing angle
   * @return the combined angular velocity unit
   */
  public static AngularVelocityUnit combine(AngleUnit angle, TimeUnit time) {
    return cache.combine(angle, time);
  }

  @Override
  public AngularVelocityUnit getBaseUnit() {
    return (AngularVelocityUnit) super.getBaseUnit();
  }

  @Override
  public AngularVelocity of(double magnitude) {
    return new AngularVelocity(magnitude, toBaseUnits(magnitude), this);
  }

  @Override
  public AngularVelocity ofBaseUnits(double baseUnitMagnitude) {
    return new AngularVelocity(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
  }

  @Override
  public AngularVelocity zero() {
    return (AngularVelocity) super.zero();
  }

  @Override
  public AngularVelocity one() {
    return (AngularVelocity) super.one();
  }

  @Override
  public AngularAccelerationUnit per(TimeUnit period) {
    return AngularAccelerationUnit.combine(this, period);
  }

  /**
   * Creates a ratio unit between this unit and an arbitrary other unit.
   *
   * @param other the other unit
   * @param <U> the type of the other unit
   * @return the ratio unit
   */
  public <U extends Unit> PerUnit<AngularVelocityUnit, U> per(U other) {
    return PerUnit.combine(this, other);
  }

  /**
   * Converts a measurement value in terms of another unit to this unit.
   *
   * @param magnitude the magnitude of the measurement in terms of the other unit
   * @param otherUnit the other unit
   * @return the value of the measurement in terms of this unit
   */
  public double convertFrom(double magnitude, AngularVelocityUnit otherUnit) {
    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
  }
}