Class DifferentialSample

java.lang.Object
choreo.trajectory.DifferentialSample
All Implemented Interfaces:
TrajectorySample<DifferentialSample>, org.wpilib.math.interpolation.Interpolatable<DifferentialSample>, org.wpilib.util.struct.StructSerializable, org.wpilib.util.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
    alpha
    The chassis angular acceleration in rad/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.
    final double
    omega
    The chassis angular velocity in rad/s.
    static final org.wpilib.util.struct.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 omega, double al, double ar, double alpha, 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, flipped to the other alliance according to the symmetry of the field.
    org.wpilib.math.kinematics.ChassisVelocities
    getChassisVelocities()
    Returns the field-relative chassis velocities of this sample.
    org.wpilib.math.geometry.Pose2d
    getPose()
    Returns the pose at this sample.
    double
    getTimestamp()
    Returns the timestamp of this sample.
    DifferentialSample
    interpolate(DifferentialSample endValue, double timestamp)
     
    DifferentialSample
    mirrorX()
    Returns this sample, mirrored to the other alliance.
    DifferentialSample
    mirrorY()
    Returns this sample, mirrored left-to-right from the driver's perspective.
    DifferentialSample
    offsetBy(double timestampOffset)
    Returns this sample, offset by the given timestamp.
    DifferentialSample
    rotateAround()
    Returns this sample, rotated 180 degrees around the field center.

    Methods inherited from class 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.

    • omega

      public final double omega
      The chassis angular velocity in rad/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.

    • alpha

      public final double alpha
      The chassis angular acceleration in rad/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 org.wpilib.util.struct.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 omega, double al, double ar, double alpha, 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.
      omega - The chassis angular velocity in rad/s.
      al - The acceleration of the left side in m/s².
      ar - The acceleration of the right side in m/s².
      alpha - The chassis angular acceleration in rad/s².
      fl - The force of the left side in Newtons.
      fr - The force of the right side in Newtons.

  • Method Details