Record Class OdometryGuard.Output

java.lang.Object

java.lang.Record

frc.spectrumLib.localization.OdometryGuard.Output

Record Components:

heading - gyro angle for the estimators

positions - module positions for the estimators

modulesUsed - bit m set when module m was used

headingSource - where this sample's heading change came from

Enclosing class:

OdometryGuard

public static record OdometryGuard.Output(Rotation2d heading, SwerveModulePosition[] positions, int modulesUsed, OdometryGuard.HeadingSource headingSource)
extends Record

What to hand the estimators.

Constructor Summary

Constructors

Constructor	Description
Output(Rotation2d heading, SwerveModulePosition[] positions, int modulesUsed, OdometryGuard.HeadingSource headingSource)	Creates an instance of a Output record class.

Method Summary

Modifier and Type	Method	Description
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.
Rotation2d	heading()	Returns the value of the heading record component.
OdometryGuard.HeadingSource	headingSource()	Returns the value of the headingSource record component.
int	modulesUsed()	Returns the value of the modulesUsed record component.
SwerveModulePosition[]	positions()	Returns the value of the positions record component.
final String	toString()	Returns a string representation of this record class.

Methods inherited from class Object

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

Constructor Details

Output

public Output(Rotation2d heading,
 SwerveModulePosition[] positions,
 int modulesUsed,
 OdometryGuard.HeadingSource headingSource)

Creates an instance of a Output record class.

Parameters:

heading - the value for the heading record component

positions - the value for the positions record component

modulesUsed - the value for the modulesUsed record component

headingSource - the value for the headingSource record component

Method Details

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. Reference components are compared with Objects::equals(Object,Object); primitive components are compared with the compare method from their corresponding wrapper classes.

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.

heading

public Rotation2d heading()

Returns the value of the heading record component.

Returns:

the value of the heading record component

positions

public SwerveModulePosition[] positions()

Returns the value of the positions record component.

Returns:

the value of the positions record component

modulesUsed

public int modulesUsed()

Returns the value of the modulesUsed record component.

Returns:

the value of the modulesUsed record component

headingSource

public OdometryGuard.HeadingSource headingSource()

Returns the value of the headingSource record component.

Returns:

the value of the headingSource record component