Package frc.robot

Record Class RobotUtils.ArticulatedPose

java.lang.Object
java.lang.Record
frc.robot.RobotUtils.ArticulatedPose
Enclosing class:
RobotUtils
public static record RobotUtils.ArticulatedPose(edu.wpi.first.math.geometry.Pose2d robot_pose, edu.wpi.first.math.geometry.Pose3d[] component_poses) extends Record
A convenience class for storing a pose along with its mechanism positions.

  • Constructor Summary

    Constructors
    Constructor
    Description
    ArticulatedPose(edu.wpi.first.math.geometry.Pose2d robot_pose)
     
    ArticulatedPose(edu.wpi.first.math.geometry.Pose2d robot_pose, double elevator_height, double intake_angle)
     
    ArticulatedPose(edu.wpi.first.math.geometry.Pose2d robot_pose, edu.wpi.first.math.geometry.Pose3d[] component_poses)
    Creates an instance of a ArticulatedPose record class.
    ArticulatedPose(edu.wpi.first.math.geometry.Pose2d robot_pose, edu.wpi.first.math.geometry.Pose3d pose1, edu.wpi.first.math.geometry.Pose3d pose2, edu.wpi.first.math.geometry.Pose3d pose3, edu.wpi.first.math.geometry.Pose3d pose4)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    edu.wpi.first.math.geometry.Pose3d[]
    component_poses()
    Returns the value of the component_poses record component.
    final boolean
    equals(Object o)
    Indicates whether some other object is "equal to" this one.
    final int
    hashCode()
    Returns a hash code value for this object.
    void
    publish(edu.wpi.first.networktables.StructPublisher<edu.wpi.first.math.geometry.Pose2d> pose_pub, edu.wpi.first.networktables.StructArrayPublisher<edu.wpi.first.math.geometry.Pose3d> components_pub)
     
    edu.wpi.first.math.geometry.Pose2d
    robot_pose()
    Returns the value of the robot_pose record component.
    final String
    toString()
    Returns a string representation of this record class.

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, wait, wait, wait

  • Constructor Details

    • ArticulatedPose

      public ArticulatedPose(edu.wpi.first.math.geometry.Pose2d robot_pose, edu.wpi.first.math.geometry.Pose3d pose1, edu.wpi.first.math.geometry.Pose3d pose2, edu.wpi.first.math.geometry.Pose3d pose3, edu.wpi.first.math.geometry.Pose3d pose4)

    • ArticulatedPose

      public ArticulatedPose(edu.wpi.first.math.geometry.Pose2d robot_pose, double elevator_height, double intake_angle)

    • ArticulatedPose

      public ArticulatedPose(edu.wpi.first.math.geometry.Pose2d robot_pose)

    • ArticulatedPose

      public ArticulatedPose(edu.wpi.first.math.geometry.Pose2d robot_pose, edu.wpi.first.math.geometry.Pose3d[] component_poses)
      Creates an instance of a ArticulatedPose record class.
      Parameters:
      robot_pose - the value for the robot_pose record component
      component_poses - the value for the component_poses record component

  • Method Details

    • publish

      public void publish(edu.wpi.first.networktables.StructPublisher<edu.wpi.first.math.geometry.Pose2d> pose_pub, edu.wpi.first.networktables.StructArrayPublisher<edu.wpi.first.math.geometry.Pose3d> components_pub)

    • toString

      public final String toString()
      Returns a string representation of this record class. The representation contains the name of the class, followed by the name and value of each of the record components.
      Specified by:
      toString in class Record
      Returns:
      a string representation of this object

    • hashCode

      public final int hashCode()
      Returns a hash code value for this object. The value is derived from the hash code of each of the record components.
      Specified by:
      hashCode in class Record
      Returns:
      a hash code value for this object

    • equals

      public final boolean equals(Object o)
      Indicates whether some other object is "equal to" this one. The objects are equal if the other object is of the same class and if all the record components are equal. All components in this record class are compared with Objects::equals(Object,Object).
      Specified by:
      equals in class Record
      Parameters:
      o - the object with which to compare
      Returns:
      true if this object is the same as the o argument; false otherwise.

    • robot_pose

      public edu.wpi.first.math.geometry.Pose2d robot_pose()
      Returns the value of the robot_pose record component.
      Returns:
      the value of the robot_pose record component

    • component_poses

      public edu.wpi.first.math.geometry.Pose3d[] component_poses()
      Returns the value of the component_poses record component.
      Returns:
      the value of the component_poses record component