Package com.thunder.lib.trajectory

Class ThunderTrajectoryRunnerProperties.DriveControllerInputData

java.lang.Object

com.thunder.lib.trajectory.ThunderTrajectoryRunnerProperties.DriveControllerInputData

Enclosing class:

ThunderTrajectoryRunnerProperties

public static class ThunderTrajectoryRunnerProperties.DriveControllerInputData
extends Object

Class containing

Field Summary

Fields

Modifier and Type	Field	Description
final Pose2d	currentPose	The current robot pose.
final CanonicalAngle	heading	The (alliance-adjusted) target heading.
final double	linearVelocityMetersPerSecond	The target linear velocity in meters per second.
final Pose2d	targetPose	The (alliance-adjusted) target pose.

Constructor Summary

Constructors

Constructor	Description
DriveControllerInputData()	Default constructor for DriveControllerInputData.
DriveControllerInputData(Pose2d currentPose, Pose2d targetPose, CanonicalAngle heading, double linearVelocityMetersPerSecond)	Constructor for DiagnosticSpeedData.

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

currentPose

public final Pose2d currentPose

The current robot pose.

targetPose

public final Pose2d targetPose

The (alliance-adjusted) target pose.

heading

public final CanonicalAngle heading

The (alliance-adjusted) target heading.

linearVelocityMetersPerSecond

public final double linearVelocityMetersPerSecond

The target linear velocity in meters per second.

Constructor Details

DriveControllerInputData

public DriveControllerInputData(Pose2d currentPose,
 Pose2d targetPose,
 CanonicalAngle heading,
 double linearVelocityMetersPerSecond)

Constructor for DiagnosticSpeedData.

Parameters:

currentPose - The current robot pose.

targetPose - The (alliance-adjusted) target pose.

heading - The (alliance-adjusted) target heading.

linearVelocityMetersPerSecond - The target linear velocity in meters per second.

DriveControllerInputData

public DriveControllerInputData()

Default constructor for DriveControllerInputData.