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.
    edu.wpi.first.math.geometry.Translation3d
    position
    Position in meters from robot center in 3d space.

  • Constructor Summary

    Constructors
    Constructor
    Description
    Matter(edu.wpi.first.math.geometry.Translation3d position, double mass)
    Construct an object representing some significant matter on the robot.

  • Method Summary

    Modifier and Type
    Method
    Description
    edu.wpi.first.math.geometry.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 edu.wpi.first.math.geometry.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(edu.wpi.first.math.geometry.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 edu.wpi.first.math.geometry.Translation3d massMoment()
      Get the center mass of the object.
      Returns:
      center mass = position * mass