IdealStartingState.h

#pragma once
 
#include <units/velocity.h>
#include <units/math.h>
#include <frc/geometry/Rotation2d.h>
#include <wpi/json.h>
 
namespace pathplanner {
class IdealStartingState {
public:
    constexpr IdealStartingState(units::meters_per_second_t velocity,
            frc::Rotation2d rotation) : m_velocity(velocity), m_rotation(
            rotation) {
    }
 
    static IdealStartingState fromJson(const wpi::json &json);
 
    constexpr units::meters_per_second_t getVelocity() const {
        return m_velocity;
    }
 
    constexpr const frc::Rotation2d& getRotation() const {
        return m_rotation;
    }
 
    inline bool operator==(const IdealStartingState &other) const {
        return std::abs(m_velocity() - other.m_velocity()) < 1E-9
                && m_rotation == other.m_rotation;
    }
 
private:
    units::meters_per_second_t m_velocity;
    frc::Rotation2d m_rotation;
};
}