Package choreo.trajectory

Class SwerveSample

java.lang.Object
choreo.trajectory.SwerveSample
All Implemented Interfaces:
TrajectorySample<SwerveSample>, Interpolatable<SwerveSample>, StructSerializable, WPISerializable
public class SwerveSample extends Object implements TrajectorySample<SwerveSample>
A single swerve robot sample in a Trajectory.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final double
    alpha
    The angular acceleration of the sample in rad/s².
    final double
    ax
    The acceleration of the in the X direction in m/s².
    final double
    ay
    The acceleration of the in the Y direction in m/s².
    final double
    heading
    The heading of the sample in radians, with 0 being in the +X direction.
    final double
    omega
    The angular velocity of the sample in rad/s.
    static final Struct<SwerveSample>
    struct
    The struct for the SwerveSample class.
    final double
    t
    The timestamp of this sample, relative to the beginning of the trajectory.
    final double
    vx
    The velocity of the sample in the X direction in m/s.
    final double
    vy
    The velocity of the sample in the Y direction 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
    SwerveSample(double t, double x, double y, double heading, double vx, double vy, double omega, double ax, double ay, double alpha, double[] moduleForcesX, double[] moduleForcesY)
    Constructs a SwerveSample with the specified parameters.

  • Method Summary

    Modifier and Type
    Method
    Description
    boolean
    equals(Object obj)
     
    SwerveSample
    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.
    SwerveSample
    interpolate(SwerveSample endValue, double timestamp)
     
    SwerveSample[]
    makeArray(int length)
    For internal use only.
    double[]
    moduleForcesX()
    A null safe getter for the module forces in the X direction.
    double[]
    moduleForcesY()
    A null safe getter for the module forces in the Y direction.
    SwerveSample
    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.

    • vx

      public final double vx
      The velocity of the sample in the X direction in m/s.

    • vy

      public final double vy
      The velocity of the sample in the Y direction in m/s.

    • omega

      public final double omega
      The angular velocity of the sample in rad/s.

    • ax

      public final double ax
      The acceleration of the in the X direction in m/s².

    • ay

      public final double ay
      The acceleration of the in the Y direction in m/s².

    • alpha

      public final double alpha
      The angular acceleration of the sample in rad/s².

    • struct

      public static final Struct<SwerveSample> struct
      The struct for the SwerveSample class.

  • Constructor Details

    • SwerveSample

      public SwerveSample(double t, double x, double y, double heading, double vx, double vy, double omega, double ax, double ay, double alpha, double[] moduleForcesX, double[] moduleForcesY)
      Constructs a SwerveSample with the specified parameters.
      Parameters:
      t - The timestamp of this sample, relative to the beginning of the trajectory.
      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.
      vx - The velocity of the sample in the X direction in m/s.
      vy - The velocity of the sample in the Y direction in m/s.
      omega - The angular velocity of the sample in rad/s.
      ax - The acceleration of the sample in the X direction in m/s².
      ay - The acceleration of the sample in the Y direction in m/s².
      alpha - The angular acceleration of the sample in rad/s².
      moduleForcesX - The force on each swerve module in the X direction in Newtons. Module forces appear in the following order: [FL, FR, BL, BR].
      moduleForcesY - The force on each swerve module in the Y direction in Newtons. Module forces appear in the following order: [FL, FR, BL, BR].

  • Method Details