Package choreo.trajectory

Class DifferentialSample

java.lang.Object

choreo.trajectory.DifferentialSample

All Implemented Interfaces:

TrajectorySample<DifferentialSample>, Interpolatable<DifferentialSample>, StructSerializable, WPISerializable

public class DifferentialSample
extends Object
implements TrajectorySample<DifferentialSample>

A single differential drive robot sample in a Trajectory.

Field Summary

Fields

Modifier and Type	Field	Description
final double	al	The acceleration of the left side in m/s².
final double	ar	The acceleration of the right side in m/s².
final double	fl	The force of the left side in Newtons.
final double	fr	The force of the right side in Newtons.
final double	heading	The heading of the sample in radians, with 0 being in the +X direction.
static final Struct<DifferentialSample>	struct	The struct for the DifferentialSample class.
final double	t	The timestamp of this sample relative to the beginning of the trajectory.
final double	vl	The velocity of the left side in m/s.
final double	vr	The velocity of the right side in m/s.
final double	x	The X position of the sample relative to the blue alliance wall origin in meters.
final double	y	The Y position of the sample relative to the blue alliance wall origin in meters.

Constructor Summary

Constructors

Constructor	Description
DifferentialSample(double timestamp, double x, double y, double heading, double vl, double vr, double al, double ar, double fl, double fr)	Constructs a DifferentialSample with the specified parameters.

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object obj)
DifferentialSample	flipped()	Returns this sample, mirrored across the field midline.
ChassisSpeeds	getChassisSpeeds()	Returns the field-relative chassis speeds of this sample.
Pose2d	getPose()	Returns the pose at this sample.
double	getTimestamp()	Returns the timestamp of this sample.
DifferentialSample	interpolate(DifferentialSample endValue, double timestamp)
DifferentialSample[]	makeArray(int length)	For internal use only.
DifferentialSample	offsetBy(double timestampOffset)	Returns this sample, offset by the given timestamp.

Methods inherited from class java.lang.Object

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

Field Details

t

public final double t

The timestamp of this sample relative to the beginning of the trajectory.

x

public final double x

The X position of the sample relative to the blue alliance wall origin in meters.

y

public final double y

The Y position of the sample relative to the blue alliance wall origin in meters.

heading

public final double heading

The heading of the sample in radians, with 0 being in the +X direction.

vl

public final double vl

The velocity of the left side in m/s.

vr

public final double vr

The velocity of the right side in m/s.

al

public final double al

The acceleration of the left side in m/s².

ar

public final double ar

The acceleration of the right side in m/s².

fl

public final double fl

The force of the left side in Newtons.

fr

public final double fr

The force of the right side in Newtons.

struct

public static final Struct<DifferentialSample> struct

The struct for the DifferentialSample class.

Constructor Details

DifferentialSample

public DifferentialSample(double timestamp,
 double x,
 double y,
 double heading,
 double vl,
 double vr,
 double al,
 double ar,
 double fl,
 double fr)

Constructs a DifferentialSample with the specified parameters.

Parameters:

timestamp - The timestamp of this sample.

x - The X position of the sample in meters.

y - The Y position of the sample in meters.

heading - The heading of the sample in radians, with 0 being in the +X direction.

vl - The velocity of the left side in m/s.

vr - The velocity of the right side in m/s.

al - The acceleration of the left side in m/s².

ar - The acceleration of the right side in m/s².

fl - The force of the left side in Newtons.

fr - The force of the right side in Newtons.

Method Details

getTimestamp

public double getTimestamp()

Description copied from interface: TrajectorySample

Returns the timestamp of this sample.

Specified by:

getTimestamp in interface TrajectorySample<DifferentialSample>

Returns:

the timestamp of this sample.

getPose

public Pose2d getPose()

Description copied from interface: TrajectorySample

Returns the pose at this sample.

Specified by:

getPose in interface TrajectorySample<DifferentialSample>

Returns:

the pose at this sample.

getChassisSpeeds

public ChassisSpeeds getChassisSpeeds()

Returns the field-relative chassis speeds of this sample.

Specified by:

getChassisSpeeds in interface TrajectorySample<DifferentialSample>

Returns:

the field-relative chassis speeds of this sample.

See Also:

• DifferentialDriveKinematics.toChassisSpeeds(edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds)

interpolate

public DifferentialSample interpolate(DifferentialSample endValue,
 double timestamp)

Specified by:

interpolate in interface Interpolatable<DifferentialSample>

flipped

public DifferentialSample flipped()

Description copied from interface: TrajectorySample

Returns this sample, mirrored across the field midline.

Specified by:

flipped in interface TrajectorySample<DifferentialSample>

Returns:

this sample, mirrored across the field midline.

offsetBy

public DifferentialSample offsetBy(double timestampOffset)

Description copied from interface: TrajectorySample

Returns this sample, offset by the given timestamp.

Specified by:

offsetBy in interface TrajectorySample<DifferentialSample>

Parameters:

timestampOffset - the offset to apply to the timestamp.

Returns:

this sample, offset by the given timestamp.

makeArray

public DifferentialSample[] makeArray(int length)

Description copied from interface: TrajectorySample

For internal use only.

Specified by:

makeArray in interface TrajectorySample<DifferentialSample>

Parameters:

length - the length of the array to create.

Returns:

the created array.

equals

public boolean equals(Object obj)

Overrides:

equals in class Object