Package me.wobblyyyy.pathfinder.robot.wrappers

Class OdometryWrapper

java.lang.Object
me.wobblyyyy.pathfinder.robot.wrappers.OdometryWrapper
All Implemented Interfaces:
Odometry
public class OdometryWrapper
extends java.lang.Object
implements Odometry
Wrapper that surrounds user-provided odometry systems in case the user wants to swap their X and Y values or invert either their X or Y values. This does not provide any additional functionality aside from swapping and inverting X and Y values for odometry systems that may be calibrated correctly but aren't reporting the proper values.

  • Field Summary

    Fields
    Modifier and Type Field Description
    private Odometry odometry  
    private boolean odometryInvertX  
    private boolean odometryInvertY  
    private boolean odometrySwapXY  

  • Constructor Summary

    Constructors
    Constructor Description
    OdometryWrapper​(Odometry odometry, boolean odometrySwapXY, boolean odometryInvertX, boolean odometryInvertY)
    Create a new OdometryWrapper.

  • Method Summary

    Modifier and Type Method Description
    HeadingPoint getPos()
    Get the robot's position and heading.
    void update()
    Update the odometry system.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • odometry

      private final Odometry odometry

    • odometrySwapXY

      private final boolean odometrySwapXY

    • odometryInvertX

      private final boolean odometryInvertX

    • odometryInvertY

      private final boolean odometryInvertY

  • Constructor Details

    • OdometryWrapper

      public OdometryWrapper​(Odometry odometry, boolean odometrySwapXY, boolean odometryInvertX, boolean odometryInvertY)
      Create a new OdometryWrapper.
      Parameters:
      odometry - the odometry that will be wrapped by the wrapper.
      odometrySwapXY - should the odometry's X and Y values be swapped?
      odometryInvertX - should the odometry's post-swap X be inverted?
      odometryInvertY - should the odometry's post-swap Y be inverted?

  • Method Details

    • getPos

      public HeadingPoint getPos()
      Get the robot's position and heading.
      Specified by:
      getPos in interface Odometry
      Returns:
      the robot's position and heading.

    • update

      public void update()
      Update the odometry system.
      Specified by:
      update in interface Odometry