Class SwerveModuleAcceleration

java.lang.Object

org.wpilib.math.kinematics.SwerveModuleAcceleration

All Implemented Interfaces:

Comparable<SwerveModuleAcceleration>, Interpolatable<SwerveModuleAcceleration>, ProtobufSerializable, StructSerializable, WPISerializable

public class SwerveModuleAcceleration
extends Object
implements Interpolatable<SwerveModuleAcceleration>, Comparable<SwerveModuleAcceleration>, ProtobufSerializable, StructSerializable

Represents the accelerations of one swerve module.

Field Summary

Fields

Modifier and Type	Field	Description
double	acceleration	Acceleration of the wheel of the module in meters per second squared.
Rotation2d	angle	Angle of the acceleration vector.
static final SwerveModuleAccelerationProto	proto	SwerveModuleAccelerations protobuf for serialization.
static final SwerveModuleAccelerationStruct	struct	SwerveModuleAccelerations struct for serialization.

Constructor Summary

Constructors

Constructor	Description
SwerveModuleAcceleration()	Constructs a SwerveModuleAccelerations with zeros for acceleration and angle.
SwerveModuleAcceleration(double acceleration, Rotation2d angle)	Constructs a SwerveModuleAccelerations.
SwerveModuleAcceleration(LinearAcceleration acceleration, Rotation2d angle)	Constructs a SwerveModuleAccelerations.

Method Summary

Modifier and Type	Method	Description
int	compareTo(SwerveModuleAcceleration other)	Compares two swerve module accelerations.
boolean	equals(Object obj)
int	hashCode()
SwerveModuleAcceleration	interpolate(SwerveModuleAcceleration endValue, double t)	Returns the linear interpolation of this SwerveModuleAccelerations and another.
String	toString()

Methods inherited from class Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Details

acceleration

public double acceleration

Acceleration of the wheel of the module in meters per second squared.

angle

public Rotation2d angle

Angle of the acceleration vector.

proto

public static final SwerveModuleAccelerationProto proto

SwerveModuleAccelerations protobuf for serialization.

struct

public static final SwerveModuleAccelerationStruct struct

SwerveModuleAccelerations struct for serialization.

Constructor Details

SwerveModuleAcceleration

public SwerveModuleAcceleration()

Constructs a SwerveModuleAccelerations with zeros for acceleration and angle.

SwerveModuleAcceleration

public SwerveModuleAcceleration(double acceleration,
 Rotation2d angle)

Constructs a SwerveModuleAccelerations.

Parameters:

acceleration - The acceleration of the wheel of the module in meters per second squared.

angle - The angle of the acceleration vector.

SwerveModuleAcceleration

public SwerveModuleAcceleration(LinearAcceleration acceleration,
 Rotation2d angle)

Constructs a SwerveModuleAccelerations.

Parameters:

acceleration - The acceleration of the wheel of the module.

angle - The angle of the acceleration vector.

Method Details

interpolate

public SwerveModuleAcceleration interpolate(SwerveModuleAcceleration endValue,
 double t)

Returns the linear interpolation of this SwerveModuleAccelerations and another.

Specified by:

interpolate in interface Interpolatable<SwerveModuleAcceleration>

Parameters:

endValue - The end value for the interpolation.

t - How far between the two values to interpolate. This is clamped to [0, 1].

Returns:

The interpolated value.

equals

public boolean equals(Object obj)

Overrides:

equals in class Object

hashCode

public int hashCode()

Overrides:

hashCode in class Object

compareTo

public int compareTo(SwerveModuleAcceleration other)

Compares two swerve module accelerations. One swerve module is "greater" than the other if its acceleration magnitude is higher than the other.

Specified by:

compareTo in interface Comparable<SwerveModuleAcceleration>

Parameters:

other - The other swerve module.

Returns:

1 if this is greater, 0 if both are equal, -1 if other is greater.

toString

public String toString()

Overrides:

toString in class Object