Package com.pathplanner.lib.util

Class FlippingUtil

java.lang.Object

com.pathplanner.lib.util.FlippingUtil

public class FlippingUtil
extends Object

Utility class for flipping positions/rotations to the other side of the field

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	FlippingUtil.FieldSymmetry	Enum representing the different types of field symmetry

Field Summary

Fields

Modifier and Type	Field	Description
static double	fieldSizeX	The X size or length of the current field in meters
static double	fieldSizeY	The Y size or width of the current field in meters
static FlippingUtil.FieldSymmetry	symmetryType	The type of symmetry for the current field

Constructor Summary

Constructors

Constructor	Description
FlippingUtil()

Method Summary

Modifier and Type	Method	Description
static double[]	flipFeedforwards(double[] feedforwards)	Flip an array of drive feedforwards for the other side of the field.
static double[]	flipFeedforwardXs(double[] feedforwardXs)	Flip an array of drive feedforward X components for the other side of the field.
static double[]	flipFeedforwardYs(double[] feedforwardYs)	Flip an array of drive feedforward Y components for the other side of the field.
static Pose2d	flipFieldPose(Pose2d pose)	Flip a field pose to the other side of the field, maintaining a blue alliance origin
static Translation2d	flipFieldPosition(Translation2d pos)	Flip a field position to the other side of the field, maintaining a blue alliance origin
static Rotation2d	flipFieldRotation(Rotation2d rotation)	Flip a field rotation to the other side of the field, maintaining a blue alliance origin
static ChassisSpeeds	flipFieldSpeeds(ChassisSpeeds fieldSpeeds)	Flip field relative chassis speeds for the other side of the field, maintaining a blue alliance origin

Methods inherited from class java.lang.Object

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

Field Details

symmetryType

public static FlippingUtil.FieldSymmetry symmetryType

The type of symmetry for the current field

fieldSizeX

public static double fieldSizeX

The X size or length of the current field in meters

fieldSizeY

public static double fieldSizeY

The Y size or width of the current field in meters

Constructor Details

FlippingUtil

public FlippingUtil()

Method Details

flipFieldPosition

public static Translation2d flipFieldPosition(Translation2d pos)

Flip a field position to the other side of the field, maintaining a blue alliance origin

Parameters:

pos - The position to flip

Returns:

The flipped position

flipFieldRotation

public static Rotation2d flipFieldRotation(Rotation2d rotation)

Flip a field rotation to the other side of the field, maintaining a blue alliance origin

Parameters:

rotation - The rotation to flip

Returns:

The flipped rotation

flipFieldPose

public static Pose2d flipFieldPose(Pose2d pose)

Flip a field pose to the other side of the field, maintaining a blue alliance origin

Parameters:

pose - The pose to flip

Returns:

The flipped pose

flipFieldSpeeds

public static ChassisSpeeds flipFieldSpeeds(ChassisSpeeds fieldSpeeds)

Flip field relative chassis speeds for the other side of the field, maintaining a blue alliance origin

Parameters:

fieldSpeeds - Field relative chassis speeds

Returns:

Flipped speeds

flipFeedforwards

public static double[] flipFeedforwards(double[] feedforwards)

Flip an array of drive feedforwards for the other side of the field. Only does anything if mirrored symmetry is used

Parameters:

feedforwards - Array of drive feedforwards

Returns:

The flipped feedforwards

flipFeedforwardXs

public static double[] flipFeedforwardXs(double[] feedforwardXs)

Flip an array of drive feedforward X components for the other side of the field. Only does anything if mirrored symmetry is used

Parameters:

feedforwardXs - Array of drive feedforward X components

Returns:

The flipped feedforward X components

flipFeedforwardYs

public static double[] flipFeedforwardYs(double[] feedforwardYs)

Flip an array of drive feedforward Y components for the other side of the field. Only does anything if mirrored symmetry is used

Parameters:

feedforwardYs - Array of drive feedforward Y components

Returns:

The flipped feedforward Y components