Package frc.robot.shared.targeting

Record Class ShootOnTheMoveCalculator.ShotSolution

java.lang.Object

java.lang.Record

frc.robot.shared.targeting.ShootOnTheMoveCalculator.ShotSolution

Record Components:

compensatedTargetPosition - virtual target position the turret should aim at in field coordinates

compensatedDistanceMeters - effective distance from the launcher to the compensated target, used for RPM lookup

timeOfFlightSeconds - solved time of flight at the compensated distance

convergenceIterations - number of Newton iterations used (should be 1-3 for typical scenarios)

sotmActive - true when translational compensation was applied; false when the robot was nearly stationary

Enclosing class:

ShootOnTheMoveCalculator

public static record ShootOnTheMoveCalculator.ShotSolution(edu.wpi.first.math.geometry.Translation2d compensatedTargetPosition, double compensatedDistanceMeters, double timeOfFlightSeconds, int convergenceIterations, boolean sotmActive)
extends Record

Immutable result of the SOTM solve. Contains the compensated aim point, effective distance for RPM lookup, the solved time of flight, and diagnostics.

Constructor Summary

Constructors

Constructor	Description
ShotSolution(edu.wpi.first.math.geometry.Translation2d compensatedTargetPosition, double compensatedDistanceMeters, double timeOfFlightSeconds, int convergenceIterations, boolean sotmActive)	Creates an instance of a ShotSolution record class.

Method Summary

Modifier and Type	Method	Description
double	compensatedDistanceMeters()	Returns the value of the compensatedDistanceMeters record component.
edu.wpi.first.math.geometry.Translation2d	compensatedTargetPosition()	Returns the value of the compensatedTargetPosition record component.
int	convergenceIterations()	Returns the value of the convergenceIterations record component.
final boolean	equals(Object o)	Indicates whether some other object is "equal to" this one.
final int	hashCode()	Returns a hash code value for this object.
boolean	sotmActive()	Returns the value of the sotmActive record component.
static ShootOnTheMoveCalculator.ShotSolution	staticSolution(edu.wpi.first.math.geometry.Translation2d target, double distanceMeters, double tofSeconds)	Construct a static (no-SOTM) solution from raw values.
double	timeOfFlightSeconds()	Returns the value of the timeOfFlightSeconds record component.
final String	toString()	Returns a string representation of this record class.

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Details

ShotSolution

public ShotSolution(edu.wpi.first.math.geometry.Translation2d compensatedTargetPosition,
 double compensatedDistanceMeters,
 double timeOfFlightSeconds,
 int convergenceIterations,
 boolean sotmActive)

Creates an instance of a ShotSolution record class.

Parameters:

compensatedTargetPosition - the value for the compensatedTargetPosition record component

compensatedDistanceMeters - the value for the compensatedDistanceMeters record component

timeOfFlightSeconds - the value for the timeOfFlightSeconds record component

convergenceIterations - the value for the convergenceIterations record component

sotmActive - the value for the sotmActive record component

Method Details

staticSolution

public static ShootOnTheMoveCalculator.ShotSolution staticSolution(edu.wpi.first.math.geometry.Translation2d target,
 double distanceMeters,
 double tofSeconds)

Construct a static (no-SOTM) solution from raw values.

toString

public final String toString()

Returns a string representation of this record class. The representation contains the name of the class, followed by the name and value of each of the record components.

Specified by:

toString in class Record

Returns:

a string representation of this object

hashCode

public final int hashCode()

Returns a hash code value for this object. The value is derived from the hash code of each of the record components.

Specified by:

hashCode in class Record

Returns:

a hash code value for this object

equals

public final boolean equals(Object o)

Indicates whether some other object is "equal to" this one. The objects are equal if the other object is of the same class and if all the record components are equal. Reference components are compared with Objects::equals(Object,Object); primitive components are compared with '=='.

Specified by:

equals in class Record

Parameters:

o - the object with which to compare

Returns:

true if this object is the same as the o argument; false otherwise.

compensatedTargetPosition

public edu.wpi.first.math.geometry.Translation2d compensatedTargetPosition()

Returns the value of the compensatedTargetPosition record component.

Returns:

the value of the compensatedTargetPosition record component

compensatedDistanceMeters

public double compensatedDistanceMeters()

Returns the value of the compensatedDistanceMeters record component.

Returns:

the value of the compensatedDistanceMeters record component

timeOfFlightSeconds

public double timeOfFlightSeconds()

Returns the value of the timeOfFlightSeconds record component.

Returns:

the value of the timeOfFlightSeconds record component

convergenceIterations

public int convergenceIterations()

Returns the value of the convergenceIterations record component.

Returns:

the value of the convergenceIterations record component

sotmActive

public boolean sotmActive()

Returns the value of the sotmActive record component.

Returns:

the value of the sotmActive record component