Package org.ironmaple.utils

Class FieldMirroringUtils

java.lang.Object

org.ironmaple.utils.FieldMirroringUtils

public class FieldMirroringUtils
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
static final double	FIELD_HEIGHT
static final double	FIELD_WIDTH

Constructor Summary

Constructors

Constructor	Description
FieldMirroringUtils()

Method Summary

Modifier and Type	Method	Description
static Rotation2d	flip(Rotation2d rotation)
static Translation2d	flip(Translation2d translation)
static Rotation2d	getCurrentAllianceDriverStationFacing()
static boolean	isSidePresentedAsRed()
static Pose2d	toCurrentAlliancePose(Pose2d poseAtBlueSide)
static Rotation2d	toCurrentAllianceRotation(Rotation2d rotationAtBlueSide)
static Translation2d	toCurrentAllianceTranslation(Translation2d translationAtBlueSide)
static Translation3d	toCurrentAllianceTranslation(Translation3d translation3dAtBlueSide)

Methods inherited from class java.lang.Object

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

Field Details

FIELD_WIDTH

public static final double FIELD_WIDTH

See Also:

• Constant Field Values

FIELD_HEIGHT

public static final double FIELD_HEIGHT

See Also:

• Constant Field Values

Constructor Details

FieldMirroringUtils

public FieldMirroringUtils()

Method Details

toCurrentAllianceRotation

public static Rotation2d toCurrentAllianceRotation(Rotation2d rotationAtBlueSide)

flip

public static Rotation2d flip(Rotation2d rotation)

toCurrentAllianceTranslation

public static Translation2d toCurrentAllianceTranslation(Translation2d translationAtBlueSide)

flip

public static Translation2d flip(Translation2d translation)

toCurrentAllianceTranslation

public static Translation3d toCurrentAllianceTranslation(Translation3d translation3dAtBlueSide)

toCurrentAlliancePose

public static Pose2d toCurrentAlliancePose(Pose2d poseAtBlueSide)

isSidePresentedAsRed

public static boolean isSidePresentedAsRed()

getCurrentAllianceDriverStationFacing

public static Rotation2d getCurrentAllianceDriverStationFacing()