Class DifferentialSample

java.lang.Object

org.wpilib.math.trajectory.TrajectorySample

org.wpilib.math.trajectory.HolonomicSample

org.wpilib.math.trajectory.DifferentialSample

All Implemented Interfaces:

ProtobufSerializable, StructSerializable, WPISerializable

public class DifferentialSample
extends HolonomicSample
implements StructSerializable

Represents a single sample in a differential drive trajectory.

Field Summary

Fields

Modifier and Type	Field	Description
double	leftVelocity	The left-wheel velocity at this sample in meters per second.
static final DifferentialSampleProto	proto	Base proto for serialization.
double	rightVelocity	The right-wheel velocity at this sample in meters per second.
static final DifferentialSampleStruct	struct	Base struct for serialization.

Fields inherited from class HolonomicSample

acceleration, pose, velocity

Fields inherited from class TrajectorySample

time

Constructor Summary

Constructors

Constructor	Description
DifferentialSample(double time, Pose2d pose, ChassisVelocities velocity, ChassisAccelerations acceleration, double leftVelocity, double rightVelocity)	Constructs a DifferentialSample.
DifferentialSample(double time, Pose2d pose, ChassisVelocities velocity, ChassisAccelerations acceleration, DifferentialDriveKinematics kinematics)	Constructs a DifferentialSample.
DifferentialSample(HolonomicSample sample, double leftVelocity, double rightVelocity)	Constructs a DifferentialSample from a HolonomicSample.
DifferentialSample(HolonomicSample sample, DifferentialDriveKinematics kinematics)	Constructs a DifferentialSample from a HolonomicSample.
DifferentialSample(Time time, Pose2d pose, ChassisVelocities velocity, ChassisAccelerations acceleration, LinearVelocity leftVelocity, LinearVelocity rightVelocity)	Constructs a DifferentialSample.

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object o)
int	hashCode()
DifferentialSample	relativeTo(Pose2d other)	Transforms this sample to be relative to the given pose.
DifferentialSample	transform(Transform2d transform)	Transforms the pose of this sample by the given transform.

Methods inherited from class HolonomicSample

kinematicInterpolate

Methods inherited from class Object

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

Field Details

leftVelocity

public double leftVelocity

The left-wheel velocity at this sample in meters per second.

rightVelocity

public double rightVelocity

The right-wheel velocity at this sample in meters per second.

proto

public static final DifferentialSampleProto proto

Base proto for serialization.

struct

public static final DifferentialSampleStruct struct

Base struct for serialization.

Constructor Details

DifferentialSample

public DifferentialSample(double time,
 Pose2d pose,
 ChassisVelocities velocity,
 ChassisAccelerations acceleration,
 double leftVelocity,
 double rightVelocity)

Constructs a DifferentialSample.

Parameters:

time - The time of the sample relative to the trajectory start, in seconds.

pose - The robot pose at this sample (in the field reference frame).

velocity - The robot velocity at this sample (in the field reference frame).

acceleration - The robot acceleration at this sample (in the field reference frame).

leftVelocity - The left-wheel velocity at this sample in meters per second.

rightVelocity - The right-wheel velocity at this sample in meters per second.

DifferentialSample

public DifferentialSample(Time time,
 Pose2d pose,
 ChassisVelocities velocity,
 ChassisAccelerations acceleration,
 LinearVelocity leftVelocity,
 LinearVelocity rightVelocity)

Constructs a DifferentialSample.

Parameters:

time - The time of the sample relative to the trajectory start.

pose - The robot pose at this sample (in the field reference frame).

velocity - The robot velocity at this sample (in the field reference frame).

acceleration - The robot acceleration at this sample (in the field reference frame).

leftVelocity - The left wheel velocity at this sample.

rightVelocity - The right wheel velocity at this sample.

DifferentialSample

public DifferentialSample(double time,
 Pose2d pose,
 ChassisVelocities velocity,
 ChassisAccelerations acceleration,
 DifferentialDriveKinematics kinematics)

Constructs a DifferentialSample.

Parameters:

time - The time of the sample relative to the trajectory start, in seconds.

pose - The robot pose at this sample (in the field reference frame).

velocity - The robot velocity at this sample (in the field reference frame).

acceleration - The robot acceleration at this sample (in the field reference frame).

kinematics - The kinematics of the drivetrain.

DifferentialSample

public DifferentialSample(HolonomicSample sample,
 double leftVelocity,
 double rightVelocity)

Constructs a DifferentialSample from a HolonomicSample.

Parameters:

sample - The HolonomicSample to copy.

leftVelocity - The left wheel velocity at this sample in meters per second.

rightVelocity - The right wheel velocity at this sample in meters per second.

DifferentialSample

public DifferentialSample(HolonomicSample sample,
 DifferentialDriveKinematics kinematics)

Constructs a DifferentialSample from a HolonomicSample.

Parameters:

sample - The HolonomicSample to copy.

kinematics - The kinematics of the drivetrain.

Method Details

equals

public boolean equals(Object o)

Overrides:

equals in class HolonomicSample

hashCode

public int hashCode()

Overrides:

hashCode in class HolonomicSample

transform

public DifferentialSample transform(Transform2d transform)

Transforms the pose of this sample by the given transform.

Overrides:

transform in class HolonomicSample

Parameters:

transform - The transform to apply to the pose.

Returns:

A new sample with the transformed pose.

relativeTo

public DifferentialSample relativeTo(Pose2d other)

Transforms this sample to be relative to the given pose.

Overrides:

relativeTo in class HolonomicSample

Parameters:

other - The pose to make this sample relative to.

Returns:

A new sample with the relative pose.