Region (MW-Lib API)

java.lang.Object

com.marswars.geometry.Region

Direct Known Subclasses:: CircularRegion, PolygonRegion

public abstract class Region extends Object

This class models a region of the field. Credit to frc-3061 for base code

Constructor Summary

Constructors

Constructor

Description

Region()
Method Summary

Modifier and Type

Method

Description

abstract void

constructRegion()

Constructs the region and prepares it for logging.

abstract boolean

contains(Pose2d other)

Returns true if the region contains a given Pose2d.

abstract String

getName()

Returns the name of the region for logging purposes.

abstract void

logPoints()

Log the points of the region.

boolean

willContain(Pose2d robotPose, ChassisSpeeds robotSpeed, double time)

Returns true if the region will contain a given Pose2d after moving at a given speed for a given time.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details
- Region
  
  public Region()
Method Details
- logPoints
  
  public abstract void logPoints()
  
  Log the points of the region. These can be visualized using AdvantageScope to confirm that the regions are properly defined.
- contains
  
  public abstract boolean contains(Pose2d other)
  
  Returns true if the region contains a given Pose2d.
- getName
  
  public abstract String getName()
  
  Returns the name of the region for logging purposes.
- constructRegion
  
  public abstract void constructRegion()
  
  Constructs the region and prepares it for logging.
- willContain
  
  public boolean willContain(Pose2d robotPose, ChassisSpeeds robotSpeed, double time)
  
  Returns true if the region will contain a given Pose2d after moving at a given speed for a given time.
  
  Parameters:
  
  robotPose - current robot pose
  
  robotSpeed - current robot speed
  
  time - time to project forward
  
  Returns:
  
  if the pose is inside the region after moving