DriveModifier

A utility class designed for modifying Translation objects, primarily used with robot drivetrains. It provides static functions for common modifications like swapping X and Y components or inverting individual components, as well as a class that can apply a combination of these modifications.

Static Fields (Functions)

These are Function<Translation, Translation> objects that can be used directly to modify a Translation.

SWAP_XY

A function that swaps the X and Y components of a Translation.

INVERT_X

A function that inverts (multiplies by -1) the X component of a Translation.

INVERT_Y

A function that inverts (multiplies by -1) the Y component of a Translation.

INVERT_Z

A function that inverts (multiplies by -1) the Z component of a Translation.

Methods

swapXY(Translation translation)

Static method that returns a new Translation with the X and Y components of the input translation swapped.

invertX(Translation translation)

Static method that returns a new Translation with the X component of the input translation inverted.

invertY(Translation translation)

Static method that returns a new Translation with the Y component of the input translation inverted.

invertZ(Translation translation)

Static method that returns a new Translation with the Z component of the input translation inverted.

swapXY(boolean swapXY)

Sets whether the X and Y components should be swapped when modify() is called. Returns this for method chaining.

invertX(boolean invertX)

Sets whether the X component should be inverted when modify() is called. Returns this for method chaining.

invertY(boolean invertY)

Sets whether the Y component should be inverted when modify() is called. Returns this for method chaining.

modify(Translation translation)

Applies the configured modifications (swapping X/Y, inverting X, inverting Y) to the input translation and returns the modified Translation.