Package org.team1126.lib.math.geometry

Class ExtPose

java.lang.Object
org.team1126.lib.math.geometry.ExtPose
All Implemented Interfaces:
Supplier<edu.wpi.first.math.geometry.Pose2d>, Tunables.Tunable
public final class ExtPose extends Object
A container for Pose2d objects that enables live tuning via NetworkTables, and dynamically returns flipped variants of the original pose based on the robot's current alliance via Supplier.get().

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    protected edu.wpi.first.math.geometry.Pose2d
    original
     
    protected edu.wpi.first.math.geometry.Pose2d
    overDiagonal
     
    protected edu.wpi.first.math.geometry.Pose2d
    overLength
     
    protected edu.wpi.first.math.geometry.Pose2d
    overWidth
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    ExtPose(double x, double y, edu.wpi.first.math.geometry.Rotation2d rotation)
    Creates an extended Pose2d.
    ExtPose(edu.wpi.first.math.geometry.Pose2d pose)
    Creates an extended Pose2d.
    ExtPose(edu.wpi.first.math.geometry.Translation2d translation, edu.wpi.first.math.geometry.Rotation2d rotation)
    Creates an extended Pose2d.

  • Method Summary

    Modifier and Type
    Method
    Description
    edu.wpi.first.math.geometry.Pose2d
    get()
    Gets the value for the robot's current alliance.
    edu.wpi.first.math.geometry.Pose2d
    get(boolean flipWidth)
    Gets the value for the robot's current alliance.
    edu.wpi.first.math.geometry.Pose2d
    get(boolean blue, boolean flipWidth)
    Gets the value for the specified alliance.
    edu.wpi.first.math.geometry.Pose2d
    getBlue()
    Gets the value for the blue alliance.
    edu.wpi.first.math.geometry.Pose2d
    getBlue(boolean flipWidth)
    Gets the value for the blue alliance.
    edu.wpi.first.math.geometry.Pose2d
    getRed()
    Gets the value for the red alliance.
    edu.wpi.first.math.geometry.Pose2d
    getRed(boolean flipWidth)
    Gets the value for the red alliance.
    void
    initTunable(TunableTable table)
    Initializes the object to be tuned.
    protected void
    set(edu.wpi.first.math.geometry.Pose2d newValue)
    Saves a new value to the container, with all flipped variations.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • original

      protected edu.wpi.first.math.geometry.Pose2d original

    • overWidth

      protected edu.wpi.first.math.geometry.Pose2d overWidth

    • overLength

      protected edu.wpi.first.math.geometry.Pose2d overLength

    • overDiagonal

      protected edu.wpi.first.math.geometry.Pose2d overDiagonal

  • Constructor Details

    • ExtPose

      public ExtPose(double x, double y, edu.wpi.first.math.geometry.Rotation2d rotation)
      Creates an extended Pose2d. All parameters are expected to be blue origin relative.
      Parameters:
      x - The x component of the translational component of the pose.
      y - The y component of the translational component of the pose.
      rotation - The rotational component of the pose.

    • ExtPose

      public ExtPose(edu.wpi.first.math.geometry.Translation2d translation, edu.wpi.first.math.geometry.Rotation2d rotation)
      Creates an extended Pose2d. All parameters are expected to be blue origin relative.
      Parameters:
      translation - The translational component of the pose.
      rotation - The rotational component of the pose.

    • ExtPose

      public ExtPose(edu.wpi.first.math.geometry.Pose2d pose)
      Creates an extended Pose2d.
      Parameters:
      pose - The blue origin relative pose.

  • Method Details

    • set

      protected void set(edu.wpi.first.math.geometry.Pose2d newValue)
      Saves a new value to the container, with all flipped variations. This method is invoked in the constructor, and can also be utilized by Tunables.Tunable.initTunable(TunableTable).

      This method should implement setting the values of original, overWidth, overLength, and overDiagonal.

      Parameters:
      newValue - The new blue origin relative value.

    • initTunable

      public void initTunable(TunableTable table)
      Description copied from interface: Tunables.Tunable
      Initializes the object to be tuned. This method is called when adding the object to a TunableTable.
      Parameters:
      table - The table the object is being added to.

    • get

      public edu.wpi.first.math.geometry.Pose2d get()
      Gets the value for the robot's current alliance. Flipping behavior is inherited from FieldInfo.symmetryType().
      Specified by:
      get in interface Supplier<T>

    • get

      public edu.wpi.first.math.geometry.Pose2d get(boolean flipWidth)
      Gets the value for the robot's current alliance. Flipping behavior is inherited from FieldInfo.symmetryType().
      Parameters:
      flipWidth - If the value should also be flipped over the field's width, regardless of the robot's alliance.

    • get

      public edu.wpi.first.math.geometry.Pose2d get(boolean blue, boolean flipWidth)
      Gets the value for the specified alliance. Flipping behavior is inherited from FieldInfo.symmetryType().
      Parameters:
      blue - If the blue alliance value should be returned.
      flipWidth - If the value should also be flipped over the field's width, regardless of the alliance.

    • getBlue

      public edu.wpi.first.math.geometry.Pose2d getBlue()
      Gets the value for the blue alliance.

    • getBlue

      public edu.wpi.first.math.geometry.Pose2d getBlue(boolean flipWidth)
      Gets the value for the blue alliance.
      Parameters:
      flipWidth - If the value should also be flipped over the field's width.

    • getRed

      public edu.wpi.first.math.geometry.Pose2d getRed()
      Gets the value for the red alliance.

    • getRed

      public edu.wpi.first.math.geometry.Pose2d getRed(boolean flipWidth)
      Gets the value for the red alliance.
      Parameters:
      flipWidth - If the value should also be flipped over the field's width.