Package frc.robot.util

Class BiAlliancePose3d

java.lang.Object

frc.robot.util.BiAlliancePose3d

public class BiAlliancePose3d
extends Object

A Pose3d that contains versions for the Blue and Red alliances.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	BiAlliancePose3d.InvertY	Changes the Y-Axis behavior when flipping the alliance.

Field Summary

Fields

Modifier and Type	Field	Description
final Pose3d	bluePose	The pose on the blue alliance.
final Pose3d	redPose	The pose on the red alliance.

Method Summary

Modifier and Type	Method	Description
static BiAlliancePose3d	fromBluePose(Pose3d bluePose, BiAlliancePose3d.InvertY invertY)	Creates a BiAlliancePose3d from a pose on the blue alliance.
static BiAlliancePose3d	fromRedPose(Pose3d redPose, BiAlliancePose3d.InvertY invertY)	Creates a BiAlliancePose2d from a pose on the red alliance.
Pose3d	getBluePose()	Gets this pose on the blue alliance.
Pose3d	getPoseByAlliance()	Gets this pose for the current alliance.
Pose3d	getRedPose()	Gets this pose on the red alliance.

Methods inherited from class java.lang.Object

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

Field Details

bluePose

public final Pose3d bluePose

The pose on the blue alliance.

redPose

public final Pose3d redPose

The pose on the red alliance.

Method Details

fromBluePose

public static BiAlliancePose3d fromBluePose(Pose3d bluePose,
 BiAlliancePose3d.InvertY invertY)

Creates a BiAlliancePose3d from a pose on the blue alliance.

Parameters:

bluePose - The pose on the blue alliance.

invertY - Should the Y value be inverted?

fromRedPose

public static BiAlliancePose3d fromRedPose(Pose3d redPose,
 BiAlliancePose3d.InvertY invertY)

Creates a BiAlliancePose2d from a pose on the red alliance.

Parameters:

redPose - The pose on the red alliance.

invertY - Should the Y value be inverted?

getBluePose

public Pose3d getBluePose()

Gets this pose on the blue alliance.

Returns:

The pose on the blue alliance.

See Also:

• bluePose

getRedPose

public Pose3d getRedPose()

Gets this pose on the red alliance.

Returns:

The pose on the red alliance.

See Also:

• redPose

getPoseByAlliance

public Pose3d getPoseByAlliance()

Gets this pose for the current alliance.

Returns:

The pose for the current alliance.