Package swervelib.math

Class Matter

java.lang.Object

swervelib.math.Matter

public class Matter
extends Object

Object with significant mass that needs to be taken into account.

Field Summary

Fields

Modifier and Type	Field	Description
double	mass	Mass in kg of object.
Translation3d	position	Position in meters from robot center in 3d space.

Constructor Summary

Constructors

Constructor	Description
Matter(Translation3d position, double mass)	Construct an object representing some significant matter on the robot.

Method Summary

Modifier and Type	Method	Description
Translation3d	massMoment()	Get the center mass of the object.

Methods inherited from class java.lang.Object

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

Field Details

position

public Translation3d position

Position in meters from robot center in 3d space.

mass

public double mass

Mass in kg of object.

Constructor Details

Matter

public Matter(Translation3d position,
 double mass)

Construct an object representing some significant matter on the robot.

Parameters:

position - Position of the matter in meters.

mass - Mass in kg.

Method Details

massMoment

public Translation3d massMoment()

Get the center mass of the object.

Returns:

center mass = position * mass