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Added scaling utilizing Vector2d which converts form cartesian coordi…
…nates to polar. Signed-off-by: thenetworkgrinch <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,96 @@ | ||
| package swervelib.math; | ||
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| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.geometry.Translation2d; | ||
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| /** | ||
| * Vector containing Magnitude and Position | ||
| */ | ||
| public class Vector2d | ||
| { | ||
|
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| /** | ||
| * Position given as an angle {@link Rotation2d}. | ||
| */ | ||
| public final Rotation2d position; | ||
| /** | ||
| * Arbitrary magnitude of the vector. | ||
| */ | ||
| public final double magnitude; | ||
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| /** | ||
| * Construct a Vector with a position and magnitude of 0. | ||
| */ | ||
| public Vector2d() | ||
| { | ||
| position = new Rotation2d(); | ||
| magnitude = 0; | ||
| } | ||
|
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| /** | ||
| * Create a vector based off of the given {@link Translation2d}. The magnitude is the | ||
| * {@link Math#hypot(double, double)} of the X and Y. | ||
| * | ||
| * @param cartesian {@link Translation2d} with the X and Y set. | ||
| */ | ||
| public Vector2d(Translation2d cartesian) | ||
| { | ||
| position = cartesian.getAngle(); | ||
| magnitude = cartesian.getNorm(); | ||
| } | ||
|
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| /** | ||
| * Construct a {@link Vector2d} given the position and magnitude. | ||
| * | ||
| * @param position Position as a {@link Rotation2d}. | ||
| * @param magnitude Magnitude as a double. | ||
| */ | ||
| public Vector2d(Rotation2d position, double magnitude) | ||
| { | ||
| this.position = position; | ||
| this.magnitude = magnitude; | ||
| } | ||
|
|
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| /** | ||
| * Convert cartesian coordinates to Vector. | ||
| * | ||
| * @param x X position | ||
| * @param y Y position | ||
| */ | ||
| public Vector2d(double x, double y) | ||
| { | ||
| this(new Translation2d(x, y)); | ||
| } | ||
|
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| /** | ||
| * Convert the Vector back into cartesian coordinates. | ||
| * | ||
| * @return {@link Translation2d} of the vector. | ||
| */ | ||
| public Translation2d getTranslation() | ||
| { | ||
| return new Translation2d(magnitude, position); | ||
| } | ||
|
|
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| /** | ||
| * Scale the magnitude by the multiplier given | ||
| * | ||
| * @param scalar Multiplier of the magnitude. | ||
| * @return {@link Vector2d} for chained functions. | ||
| */ | ||
| public Vector2d scale(double scalar) | ||
| { | ||
| return new Vector2d(position, magnitude * scalar); | ||
| } | ||
|
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| /** | ||
| * Exponentially modify the magnitude. | ||
| * | ||
| * @param pow Power for the magnitude | ||
| * @return {@link Vector2d} with the magnitude^pow | ||
| */ | ||
| public Vector2d pow(double pow) | ||
| { | ||
| return new Vector2d(position, Math.pow(this.magnitude, pow)); | ||
| } | ||
| } |