Package frc.robot.shared.config

Class AbstractConfig.ComponentPoseConfig

java.lang.Object

frc.robot.shared.config.AbstractConfig.ComponentPoseConfig

Enclosing class:

AbstractConfig

public static class AbstractConfig.ComponentPoseConfig
extends Object

Describes the 3D pivot offset for an articulated component in AdvantageScope.

Embed an instance in any mechanism config that has a corresponding model component in the robot's AdvantageScope asset. The pivot values represent the component's origin relative to the robot's floor-level origin in meters.

Field Summary

Fields

Modifier and Type	Field	Description
double	componentPivotX	Forward/backward offset in meters (positive = forward).
double	componentPivotY	Left/right offset in meters (positive = left).
double	componentPivotZ	Vertical offset in meters (positive = up).

Constructor Summary

Constructors

Constructor	Description
ComponentPoseConfig()

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.geometry.Translation3d	toTranslation3d()	Converts the configured pivot offsets to a WPILib Translation3d.

Methods inherited from class java.lang.Object

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

Field Details

componentPivotX

public double componentPivotX

Forward/backward offset in meters (positive = forward).

componentPivotY

public double componentPivotY

Left/right offset in meters (positive = left).

componentPivotZ

public double componentPivotZ

Vertical offset in meters (positive = up).

Constructor Details

ComponentPoseConfig

public ComponentPoseConfig()

Method Details

toTranslation3d

public edu.wpi.first.math.geometry.Translation3d toTranslation3d()

Converts the configured pivot offsets to a WPILib Translation3d.

Returns:

translation representing the component pivot in meters