Package com.pathplanner.lib.trajectory

Class SwerveModuleTrajectoryState

java.lang.Object

edu.wpi.first.math.kinematics.SwerveModuleState

com.pathplanner.lib.trajectory.SwerveModuleTrajectoryState

All Implemented Interfaces:

ProtobufSerializable, StructSerializable, WPISerializable, Comparable<SwerveModuleState>

public class SwerveModuleTrajectoryState
extends SwerveModuleState

Extension of a SwerveModuleState to include its field-relative position and angle

Field Summary

Fields

Modifier and Type	Field	Description
protected double	deltaPos	Difference in module position between this state and the previous state
protected Rotation2d	fieldAngle	Field relative angle of the swerve module
protected Translation2d	fieldPos	Position of this module on the field

Fields inherited from class edu.wpi.first.math.kinematics.SwerveModuleState

angle, proto, speedMetersPerSecond, struct

Constructor Summary

Constructors

Constructor	Description
SwerveModuleTrajectoryState()

Method Summary

Methods inherited from class edu.wpi.first.math.kinematics.SwerveModuleState

compareTo, cosineScale, equals, hashCode, optimize, optimize, toString

Methods inherited from class java.lang.Object

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

Field Details

fieldAngle

protected Rotation2d fieldAngle

Field relative angle of the swerve module

fieldPos

protected Translation2d fieldPos

Position of this module on the field

deltaPos

protected double deltaPos

Difference in module position between this state and the previous state

Constructor Details

SwerveModuleTrajectoryState

public SwerveModuleTrajectoryState()