RotationTarget.h

#pragma once
 
#include <frc/geometry/Rotation2d.h>
#include <wpi/json.h>
 
namespace pathplanner {
class RotationTarget {
public:
    constexpr RotationTarget(double waypointRelativePosition,
            frc::Rotation2d target) : m_position(waypointRelativePosition), m_target(
            target) {
    }
 
    static RotationTarget fromJson(const wpi::json &json);
 
    constexpr double getPosition() const {
        return m_position;
    }
 
    constexpr const frc::Rotation2d& getTarget() const {
        return m_target;
    }
 
    inline bool operator==(const RotationTarget &other) const {
        return std::abs(m_position - other.m_position) < 1E-9
                && m_target == other.m_target;
    }
 
private:
    double m_position;
    frc::Rotation2d m_target;
};
}