Record Class OdometryGuard.Settings

java.lang.Object
java.lang.Record
frc.spectrumLib.localization.OdometryGuard.Settings
Record Components:
maxSpeed - fastest believable wheel travel, m/s (about 1.5x top speed)
maxTurnRate - fastest believable gyro rotation, rad/s
moduleLocations - module positions from the robot centre, kinematics order
Enclosing class:
OdometryGuard
public static record OdometryGuard.Settings(double maxSpeed, double maxTurnRate, Translation2d[] moduleLocations) extends Record
Limits and geometry.

  • Constructor Details

    • Settings

      public Settings(double maxSpeed, double maxTurnRate, Translation2d[] moduleLocations)
      Creates an instance of a Settings record class.
      Parameters:
      maxSpeed - the value for the maxSpeed record component
      maxTurnRate - the value for the maxTurnRate record component
      moduleLocations - the value for the moduleLocations 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.

    • maxSpeed

      public double maxSpeed()
      Returns the value of the maxSpeed record component.
      Returns:
      the value of the maxSpeed record component

    • maxTurnRate

      public double maxTurnRate()
      Returns the value of the maxTurnRate record component.
      Returns:
      the value of the maxTurnRate record component

    • moduleLocations

      public Translation2d[] moduleLocations()
      Returns the value of the moduleLocations record component.
      Returns:
      the value of the moduleLocations record component