Package frc.lib5k.kinematics

Class FieldPosition

java.lang.Object

frc.lib5k.kinematics.FieldPosition

public class FieldPosition
extends java.lang.Object

Used to denote a robot position

Constructor Summary

Constructors

Constructor	Description
FieldPosition(double x, double y)	A field-relative point in space (in meters)
FieldPosition(double x, double y, double theta)	A field-relative point in space (in meters)
FieldPosition(FieldPosition position)	Copy constructor for a FieldPosition

Method Summary

Modifier and Type	Method	Description
Error2D	getRotatedError(FieldPosition goalPosition)	Get the rotated 2D error from the robot's current location to a goal position
double	getTheta()
double	getX()	Strafe distance
double	getY()	Forward distance
void	setTheta(double theta)
void	setX(double x)
void	setY(double y)
java.lang.String	toString()
static FieldPosition	transformBy(FieldPosition origin, FieldPosition rel)	Get a new field-relative position from origin + rel

Methods inherited from class java.lang.Object

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

Constructor Detail

FieldPosition

public FieldPosition(FieldPosition position)

Copy constructor for a FieldPosition

Parameters:

position - FieldPosition to copy from

FieldPosition

public FieldPosition(double x,
                     double y)

A field-relative point in space (in meters)

Parameters:

x - Left-right position from driverstation glass

y - Forward position from driverstation glass

FieldPosition

public FieldPosition(double x,
                     double y,
                     double theta)

A field-relative point in space (in meters)

Parameters:

x - Left-right position from driverstation glass

y - Forward position from driverstation glass

theta - Angle from driverstation glass

Method Detail

getX

public double getX()

Strafe distance

getY

public double getY()

Forward distance

Returns:

getTheta

public double getTheta()

setX

public void setX(double x)

setY

public void setY(double y)

setTheta

public void setTheta(double theta)

getRotatedError

public Error2D getRotatedError(FieldPosition goalPosition)

Get the rotated 2D error from the robot's current location to a goal position

Parameters:

goalPosition - Goal position (where the robot wants to be)

Returns:

Error from current position to goal

transformBy

public static FieldPosition transformBy(FieldPosition origin,
                                        FieldPosition rel)

Get a new field-relative position from origin + rel

Parameters:

origin - Original field-relative point

rel - Point relative to origin to transform by

Returns:

New point

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object