Package frc.team88.swerve.motion.state

Class OdomState

  • All Implemented Interfaces:
    NetworkTablePopulator
    public class OdomState
extends java.lang.Object
implements NetworkTablePopulator
    Represents the state of the robot as determined by the odometry, both position and velocity.

    • Constructor Summary

      Constructors 
      Constructor Description
      OdomState()  

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void addToPosition​(double x, double y)
      Adds the given values to the position.
      void addToTheta​(double theta)
      Adds the given value the heading.
      double getTheta()
      Gets the heading.
      double getThetaVelocity()
      Gets the heading angular velocity.
      double getXPosition()
      Gets the x position.
      double getXVelocity()
      Gets the x velocity.
      double getYPosition()
      Gets the y position.
      double getYVelocity()
      Gets the y velocity.
      void populateNetworkTable​(edu.wpi.first.networktables.NetworkTable table)
      Populates the given network table with data from this class.
      void setPosition​(double x, double y)
      Sets the position.
      void setTheta​(double theta)
      Sets the heading.
      void setThetaVelocity​(double vtheta)
      Sets the heading angular velocity.
      void setVelocity​(double vx, double vy)
      Sets the velocity.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • OdomState

        public OdomState()

    • Method Detail

      • getXPosition

        public double getXPosition()
        Gets the x position.
        Returns:
        The x position, in feet.

      • getYPosition

        public double getYPosition()
        Gets the y position.
        Returns:
        The y position, in feet.

      • setPosition

        public void setPosition​(double x,
                        double y)
        Sets the position.
        Parameters:
        x - The x positon, in feet.
        y - The y position, in feet.

      • addToPosition

        public void addToPosition​(double x,
                          double y)
        Adds the given values to the position.
        Parameters:
        x - The x positon to add, in feet.
        y - The y position to add, in feet.

      • getTheta

        public double getTheta()
        Gets the heading.
        Returns:
        The heading, in degrees.

      • setTheta

        public void setTheta​(double theta)
        Sets the heading.
        Parameters:
        theta - The heading, in degrees.

      • addToTheta

        public void addToTheta​(double theta)
        Adds the given value the heading.
        Parameters:
        theta - The heading to add, in degrees.

      • getXVelocity

        public double getXVelocity()
        Gets the x velocity.
        Returns:
        The x velocity, in feet per second.

      • getYVelocity

        public double getYVelocity()
        Gets the y velocity.
        Returns:
        The y velocity, in feet per second.

      • setVelocity

        public void setVelocity​(double vx,
                        double vy)
        Sets the velocity.
        Parameters:
        vx - The x velocity, in feet per second.
        vy - The y velocity, in feet per second.

      • getThetaVelocity

        public double getThetaVelocity()
        Gets the heading angular velocity.
        Returns:
        The heading angular velocity, in degrees per second.

      • setThetaVelocity

        public void setThetaVelocity​(double vtheta)
        Sets the heading angular velocity.
        Parameters:
        vtheta - The heading angular velocity, in degrees per second.

      • populateNetworkTable

        public void populateNetworkTable​(edu.wpi.first.networktables.NetworkTable table)
        Description copied from interface: NetworkTablePopulator
        Populates the given network table with data from this class. May also read in values.
        Specified by:
        populateNetworkTable in interface NetworkTablePopulator
        Parameters:
        table - The table to populate, and possibly read from.