Package org.littletonrobotics.junction.mechanism

Class LoggedMechanismRoot2d

java.lang.Object

org.littletonrobotics.junction.mechanism.LoggedMechanismRoot2d

All Implemented Interfaces:

AutoCloseable

public final class LoggedMechanismRoot2d
extends Object
implements AutoCloseable

Root Mechanism2d node.

A root is the anchor point of other nodes (such as ligaments).

Do not create objects of this class directly! Obtain instances from the Mechanism2d.getRoot(String, double, double) factory method.

Append other nodes by using append(LoggedMechanismObject2d).

Method Summary

Modifier and Type	Method	Description
<T extends LoggedMechanismObject2d> T	append(T object)	Append a Mechanism object that is based on this one.
void	close()
ArrayList<Pose3d>	generate3dMechanism()	Converts the Mechanism2d into a series of Pose3d objects.
String	getName()	Get the name of the root.
void	setPosition(double x, double y)	Set the root's position.

Methods inherited from class java.lang.Object

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

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

append

public <T extends LoggedMechanismObject2d> T append(T object)

Append a Mechanism object that is based on this one.

Type Parameters:

T - The object type.

Parameters:

object - the object to add.

Returns:

the object given as a parameter, useful for variable assignments and call chaining.

Throws:

UnsupportedOperationException - if the object's name is already used - object names must be unique.

setPosition

public void setPosition(double x,
 double y)

Set the root's position.

Parameters:

x - new x coordinate

y - new y coordinate

getName

public String getName()

Get the name of the root.

Returns:

The name of the root.

generate3dMechanism

public ArrayList<Pose3d> generate3dMechanism()

Converts the Mechanism2d into a series of Pose3d objects. Poses are generated with standard coordinate frame (+x forward, +y left, +z up) and each pivot point is assumed to be at the origin of the model.

The order of the poses returned is based on the order of insertion. The first root inserted into the Mechanism2d goes first, and processed in a depth-first manner.

Returns:

list of poses for starting from the root point