It can be constructed by passing in a {@link Gamepad}, which it will grab all of the current - * values and store them. - * - *
This class implements all of the functions for {@link Gamepad}, making it a valid gamepad that - * something can call. - * - *
TODO: this class is designed to be turned into a JSON string and back, which has yet to be - * implemented. - * - * @author Sam (sam.belliveau@gmail.com) - */ -public class GamepadState extends Gamepad { - - /*************************************/ - /*** VARIABLES MAKING UP THE STATE ***/ - /*************************************/ - - public final double stickLeftX; - - public final double stickLeftY; - - public final double stickRightX; - public final double stickRightY; - - public final boolean dpadUp; - public final boolean dpadDown; - public final boolean dpadLeft; - public final boolean dpadRight; - - public final boolean bumperLeft; - public final boolean bumperRight; - - public final double triggerLeft; - public final double triggerRight; - - public final boolean buttonTop; - public final boolean buttonBottom; - public final boolean buttonLeft; - public final boolean buttonRight; - - public final boolean buttonSelect; - public final boolean buttonStart; - - public final boolean buttonStickLeft; - public final boolean buttonStickRight; - - /*******************/ - /*** CONSTRUCTOR ***/ - /*******************/ - - /** @param gamepad Gamepad class to record in the state */ - public GamepadState(Gamepad gamepad) { - this.stickLeftX = gamepad.getLeftX(); - this.stickLeftY = gamepad.getLeftY(); - - this.stickRightX = gamepad.getRightX(); - this.stickRightY = gamepad.getRightY(); - - this.dpadUp = gamepad.getRawDPadUp(); - this.dpadDown = gamepad.getRawDPadDown(); - this.dpadLeft = gamepad.getRawDPadLeft(); - this.dpadRight = gamepad.getRawDPadRight(); - - this.bumperLeft = gamepad.getRawLeftBumper(); - this.bumperRight = gamepad.getRawRightBumper(); - - this.triggerLeft = gamepad.getLeftTrigger(); - this.triggerRight = gamepad.getRightTrigger(); - - this.buttonTop = gamepad.getRawTopButton(); - this.buttonBottom = gamepad.getRawBottomButton(); - this.buttonLeft = gamepad.getRawLeftButton(); - this.buttonRight = gamepad.getRawRightButton(); - - this.buttonSelect = gamepad.getRawSelectButton(); - this.buttonStart = gamepad.getRawStartButton(); - - this.buttonStickLeft = gamepad.getRawLeftStickButton(); - this.buttonStickRight = gamepad.getRawRightStickButton(); - } - - /*******************************/ - /*** GAMEPAD STATE FUNCTIONS ***/ - /*******************************/ - - // TODO: JSON FORMATTING - - /****************************************/ - /*** GAMEPAD IMPLEMENTATION FUNCTIONS ***/ - /****************************************/ - - // Left Stick // - @Override - public double getLeftX() { - return this.stickLeftX; - } - - @Override - public double getLeftY() { - return this.stickLeftY; - } - - // Right Stick // - @Override - public double getRightX() { - return this.stickRightX; - } - - @Override - public double getRightY() { - return this.stickRightY; - } - - // D-Pad // - @Override - public boolean getRawDPadUp() { - return this.dpadUp; - } - - @Override - public boolean getRawDPadDown() { - return this.dpadDown; - } - - @Override - public boolean getRawDPadLeft() { - return this.dpadLeft; - } - - @Override - public boolean getRawDPadRight() { - return this.dpadRight; - } - - // Bumpers // - @Override - public boolean getRawLeftBumper() { - return this.bumperLeft; - } - - @Override - public boolean getRawRightBumper() { - return this.bumperRight; - } - - // Triggers // - @Override - public double getLeftTrigger() { - return this.triggerLeft; - } - - @Override - public double getRightTrigger() { - return this.triggerRight; - } - - // Face Buttons // - @Override - public boolean getRawTopButton() { - return this.buttonTop; - } - - @Override - public boolean getRawBottomButton() { - return this.buttonBottom; - } - - @Override - public boolean getRawLeftButton() { - return this.buttonLeft; - } - - @Override - public boolean getRawRightButton() { - return this.buttonRight; - } - - // Start / Select / Option // - @Override - public boolean getRawSelectButton() { - return this.buttonSelect; - } - - @Override - public boolean getRawStartButton() { - return this.buttonStart; - } - - // Analog Stick Buttons // - @Override - public boolean getRawLeftStickButton() { - return this.buttonStickLeft; - } - - @Override - public boolean getRawRightStickButton() { - return this.buttonStickRight; - } -} diff --git a/src/com/stuypulse/stuylib/input/gamepads/keyboard/KeyGamepad.java b/src/com/stuypulse/stuylib/input/gamepads/keyboard/KeyGamepad.java deleted file mode 100644 index 904a162e..00000000 --- a/src/com/stuypulse/stuylib/input/gamepads/keyboard/KeyGamepad.java +++ /dev/null @@ -1,123 +0,0 @@ -/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */ -/* This work is licensed under the terms of the MIT license */ -/* found in the root directory of this project. */ - -package com.stuypulse.stuylib.input.gamepads.keyboard; - -import com.stuypulse.stuylib.input.Gamepad; - -/** - * This is a base class for a gamepad controlled via keyboard. This class controls the keymappings. - * All a child controller needs to do is provide a way to check if any keyboard button is - * pressed. - * - *
Every other class will interact with the network keyboards through this class
- *
- * @author Sam (sam.belliveau@gmail.com)
- */
-public class NetKeyboard {
-
- private interface Constants {
-
- /**
- * Gets name of network table for Network Keyboard and its virtual port number
- *
- * @param port virtual port number
- * @return network table name
- */
- public static String getTableName(int port) {
- return ("NetworkKeyboard/port/" + Integer.toString(Math.abs(port)));
- }
-
- /**
- * Sanitize key names to prevent caps issues
- *
- * @param key key name
- * @return sanitized key name
- */
- public static String sanitize(String key) {
- return key.toUpperCase().trim();
- }
- }
-
- /** Table where key information is stored */
- private SLNetworkTable mKeyboardTable;
-
- /**
- * Creates NetworkKeyboard on robot
- *
- * @param port virtual port number (unsure, use 0)
- */
- public NetKeyboard(int port) {
- mKeyboardTable = SLNetworkTable.open(Constants.getTableName(port));
- }
-
- /**
- * Creates NetworkKeyboard that is connected to the robot from elsewhere
- *
- * @param team robot team number
- * @param port virtual port number (unsure, use 0)
- */
- public NetKeyboard(int team, int port) {
- mKeyboardTable = SLNetworkTable.open(team, Constants.getTableName(port));
- }
-
- /**
- * Checks if network table is connected
- *
- * @return if network table is connected
- */
- public boolean isConnected() {
- return mKeyboardTable.isConnected();
- }
-
- /**
- * Set key value
- *
- * @param key name of key
- * @param val new value for key
- */
- public void setKey(String key, boolean val) {
- mKeyboardTable.setBoolean(Constants.sanitize(key), val);
- }
-
- /**
- * Gets if key is pressed
- *
- * @param key name of key
- * @return if key is pressed
- */
- public boolean getKey(String key) {
- return mKeyboardTable.getBoolean(Constants.sanitize(key));
- }
-
- /**
- * Returns Set of Strings with the names of every key that is pressed
- *
- * @return set of strings
- */
- public Set This would not be used on the robot, but should be used on the users computer
- *
- * Make an AWT window to use this listener
- *
- * @author Sam (sam.belliveau@gmail.com)
- */
-public class NetKeyListener extends KeyAdapter {
-
- /** Network Table for which key presses go */
- private NetKeyboard mNetKeyboard;
-
- /**
- * Initialize Network Keyboard Listener
- *
- * @param team team number of robot
- * @param port virtual keyboard port
- */
- public NetKeyListener(int team, int port) {
- mNetKeyboard = new NetKeyboard(team, port);
- }
-
- /**
- * Returns underlying NetKeyboard class
- *
- * @return underlying NetKeyboard class
- */
- public NetKeyboard getNetKeyboard() {
- return mNetKeyboard;
- }
-
- /**
- * Checks if network table is connected
- *
- * @return if network table is connected
- */
- public boolean isConnected() {
- return mNetKeyboard.isConnected();
- }
-
- /**
- * Adds Key from Key Event to State
- *
- * @param e Key Event
- */
- public void keyPressed(KeyEvent e) {
- mNetKeyboard.setKey(KeyEvent.getKeyText(e.getKeyCode()), true);
- }
-
- /**
- * Removes Key from Key Event to State
- *
- * @param e Key Event
- */
- public void keyReleased(KeyEvent e) {
- mNetKeyboard.setKey(KeyEvent.getKeyText(e.getKeyCode()), false);
- }
-}
diff --git a/src/com/stuypulse/stuylib/input/keyboard/computer/NetKeyWindow.java b/src/com/stuypulse/stuylib/input/keyboard/computer/NetKeyWindow.java
deleted file mode 100644
index 5fcb2a42..00000000
--- a/src/com/stuypulse/stuylib/input/keyboard/computer/NetKeyWindow.java
+++ /dev/null
@@ -1,77 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.input.keyboard.computer;
-
-import java.awt.Color;
-import java.awt.GridBagLayout;
-import javax.swing.JFrame;
-import javax.swing.JLabel;
-import javax.swing.JOptionPane;
-import javax.swing.JPanel;
-import javax.swing.border.LineBorder;
-
-/**
- * This is a simple class that opens a Java AWT window, which has a KeyListener that uploads
- * keyboard information to a network table
- *
- * @author Sam (sam.belliveau@gmail.com)
- */
-public class NetKeyWindow extends JFrame {
-
- private static final long serialVersionUID = 1L;
-
- /** NetKeyListener for window */
- private NetKeyListener mListener;
-
- /** Opens Network Keyboard Input Window */
- public NetKeyWindow() {
- // Set Title and Open Network Table
- super("Network Keyboard Input");
-
- // Get team number from user
- int team;
- do {
- try {
- String teamNum = JOptionPane.showInputDialog("Enter Team Number:");
- team = Integer.parseInt(teamNum);
- } catch (Exception e) {
- team = -1;
- }
- } while (team < 0);
-
- // Get keyboard port from user
- int port = 0;
- try {
- String keyboardPort =
- JOptionPane.showInputDialog("Enter Virtual Keyboard Port (Default=0):");
- port = Integer.parseInt(keyboardPort);
- } catch (Exception e) {
- port = 0;
- }
-
- // Connect NetKeyListener
- mListener = new NetKeyListener(team, port);
- addKeyListener(mListener);
-
- // Set Title
- setTitle("Network Keyboard Input [Team: " + team + ", Port: " + port + "]");
-
- // Message
- JLabel message =
- new JLabel("Sending Keyboard Input to [Team: " + team + ", Port: " + port + "]");
- message.setBorder(new LineBorder(Color.BLACK, 4));
-
- // Message Panel
- final JPanel messagePanel = new JPanel(new GridBagLayout());
- messagePanel.add(message);
- getContentPane().add(messagePanel);
-
- // Pack and Set Size
- pack();
-
- // Set Visible
- setVisible(true);
- }
-}
diff --git a/src/com/stuypulse/stuylib/input/keyboard/readme.md b/src/com/stuypulse/stuylib/input/keyboard/readme.md
deleted file mode 100644
index 73d6c9b9..00000000
--- a/src/com/stuypulse/stuylib/input/keyboard/readme.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# StuyLib Network Keyboard
-
-WIP...
\ No newline at end of file
diff --git a/src/com/stuypulse/stuylib/math/Angle.java b/src/com/stuypulse/stuylib/math/Angle.java
index 5d05c9a6..2aa1b2c3 100644
--- a/src/com/stuypulse/stuylib/math/Angle.java
+++ b/src/com/stuypulse/stuylib/math/Angle.java
@@ -14,11 +14,7 @@
* @author Sam (sam.belliveau@gmail.com)
*/
public final class Angle {
-
- // Configuration for toString() function
- private static final boolean STRING_RADIANS = false;
- private static final int STRING_SIGFIGS = 5;
-
+
/******************************************************/
/*** CONSTANT ANGLE VALUES, SET AT BENCHMARK VALUES ***/
/******************************************************/
@@ -494,19 +490,4 @@ public boolean equals(Object other) {
public int hashCode() {
return Double.hashCode(this.toRadians());
}
-
- /** @return the string representation of the angle */
- @Override
- public String toString() {
- StringBuilder out = new StringBuilder();
- out.append("Angle(");
-
- if (STRING_RADIANS) {
- out.append(SLMath.round(this.toRadians(), STRING_SIGFIGS)).append("pi, ");
- }
-
- out.append(SLMath.round(this.toDegrees(), STRING_SIGFIGS)).append("deg)");
-
- return out.toString();
- }
}
diff --git a/src/com/stuypulse/stuylib/math/Polar2D.java b/src/com/stuypulse/stuylib/math/Polar2D.java
deleted file mode 100644
index 68fd4c3a..00000000
--- a/src/com/stuypulse/stuylib/math/Polar2D.java
+++ /dev/null
@@ -1,155 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.math;
-
-import com.stuypulse.stuylib.util.HashBuilder;
-
-/**
- * A class that is used to store polar coordinates. It's heavily dependant on the vector and angle
- * class.
- *
- * @author Sam Belliveau (sam.belliveau@gmail.com)
- */
-public class Polar2D {
-
- // Configuration for toString() function
- private static final int STRING_SIGFIGS = 5;
-
- // Internal Variables
- public final double magnitude;
- public final Angle angle;
-
- /**
- * Create a Polar2D with a magnitude and an angle
- *
- * @param mag magnitude
- * @param ang angle
- */
- public Polar2D(double mag, Angle ang) {
- // Make sure the magnitude is always positive
- if (mag >= 0) {
- magnitude = mag;
- angle = ang;
- } else {
- magnitude = -mag;
- angle = ang.opposite();
- }
- }
-
- /**
- * Convert a Vector2D into Polar Coordinates
- *
- * @param vec Vector2D to turn into polar coordinates
- */
- public Polar2D(Vector2D vec) {
- this(vec.magnitude(), vec.getAngle());
- }
-
- /**
- * Get the distance between two Polar2Ds
- *
- * @param other other Polar2D
- * @return the distance between the two Polar2Ds
- */
- public double distance(Polar2D other) {
- final double a = this.magnitude;
- final double b = other.magnitude;
- final Angle t = this.angle.sub(other.angle);
- return Math.sqrt(a * a + b * b - 2.0 * a * b * t.cos());
- }
-
- /** @return distance from 0, 0 */
- public double distance() {
- return this.magnitude;
- }
-
- /** @return magnitude */
- public double magnitude() {
- return magnitude;
- }
-
- /** @return angle */
- public Angle getAngle() {
- return angle;
- }
-
- /** @return Polar Coordinates as a Vector2D */
- public Vector2D getVector() {
- return new Vector2D(angle.cos() * magnitude, angle.sin() * magnitude);
- }
-
- /**
- * @param m scalar to multiply by
- * @return result of multiplication
- */
- public Polar2D mul(double m) {
- return new Polar2D(magnitude * m, angle);
- }
-
- /**
- * @param d scalar to divide by
- * @return result of division
- */
- public Polar2D div(double d) {
- return new Polar2D(magnitude / d, angle);
- }
-
- /**
- * @param a angle to rotate by
- * @return result of rotation
- */
- public Polar2D rotate(Angle a) {
- return new Polar2D(magnitude, angle.add(a));
- }
-
- /** @return Polar2D object with a negated magnitude */
- public Polar2D negative() {
- return new Polar2D(-magnitude, angle);
- }
-
- /** @return normalized polar coordinates */
- public Polar2D normalize() {
- return new Polar2D(1, angle);
- }
-
- /**
- * @param other object to compare to
- * @return both objects are Polar2Ds and they equal eachother
- */
- @Override
- public boolean equals(Object other) {
- if (this == other) {
- return true;
- }
-
- if (other instanceof Polar2D) {
- Polar2D o = (Polar2D) other;
- return this.magnitude == o.magnitude && this.angle.equals(o.angle);
- }
-
- return false;
- }
-
- /**
- * @see com.stuypulse.stuylib.util.HashBuilder#combineHash(int, int)
- * @return hashCode generated by combining the hashes of the magnitude and the angle
- */
- @Override
- public int hashCode() {
- return HashBuilder.combineHash(Double.hashCode(magnitude), angle);
- }
-
- /** @return String representation of the Polar2D class */
- @Override
- public String toString() {
- StringBuilder out = new StringBuilder();
- out.append("Polar2D(");
- out.append(SLMath.round(magnitude, STRING_SIGFIGS));
- out.append(", ");
- out.append(angle);
- out.append(")");
- return out.toString();
- }
-}
diff --git a/src/com/stuypulse/stuylib/math/SLMath.java b/src/com/stuypulse/stuylib/math/SLMath.java
index 2ec69453..19dbe340 100644
--- a/src/com/stuypulse/stuylib/math/SLMath.java
+++ b/src/com/stuypulse/stuylib/math/SLMath.java
@@ -16,37 +16,6 @@ public final class SLMath {
// Prevent the class from being extended at all
private SLMath() {}
- /*********************/
- /*** INTERPOLATION ***/
- /*********************/
-
- /**
- * Linear Interpolation from start to end using value t [0...1]
- *
- * @param start value of linear interpolation when t = 0
- * @param end value of linear interpolation when t = 1
- * @param t time value for linear interpolation [0...1]
- * @return interpolated value
- */
- public static double lerp(double start, double end, double t) {
- return start + (end - start) * clamp(t, 0.0, 1.0);
- }
-
- /**
- * Maps an input in one range to an output in another range
- *
- * @param input value to map
- * @param minInput minimum value of input
- * @param maxInput maximum value of input
- * @param minOutput minimum value of output
- * @param maxOutput maximum value of output
- * @return the mapped value
- */
- public static double map(
- double input, double minInput, double maxInput, double minOutput, double maxOutput) {
- return lerp(minOutput, maxOutput, (input - minInput) / (maxInput - minInput));
- }
-
/**************/
/*** LIMITS ***/
/**************/
@@ -116,26 +85,6 @@ public static double deadband(double x, double window) {
/*** RAISE TO POWER WHILE KEEPING SIGN ***/
/*****************************************/
- /**
- * [WARNING! THIS WILL KEEP THE SIGN OF THE INPUT NUMBER] Square number and keep sign
- *
- * @param x input
- * @return squared input with the same sign
- */
- public static double square(double x) {
- return clamp(x * x * Math.signum(x));
- }
-
- /**
- * Cube a number
- *
- * @param x input
- * @return cubed input that
- */
- public static double cube(double x) {
- return x * x * x;
- }
-
/**
* spow (signless pow), raises a number to a power without affecting the sign of the number
*
@@ -146,85 +95,4 @@ public static double cube(double x) {
public static double spow(double x, double power) {
return Math.pow(Math.abs(x), power) * Math.signum(x);
}
-
- /*****************/
- /*** MISC MATH ***/
- /*****************/
-
- /**
- * fpow (fast pow), is a pow function that takes in an integer for the exponent. This allows it
- * to be much faster on repeated calls due to the fact that it does not need to deal with
- * fractional exponents.
- *
- * @param base base of the power
- * @param exp integer exponent of power
- * @return result of calculation
- */
- public static double fpow(double base, int exp) {
- // Output of the fpow function
- double out = 1.0;
-
- // If the exponent is negative, divide instead of multiply
- if (exp < 0) {
- // Flip exponent to make calculations easier
- exp = -exp;
-
- // Fast integer power algorithm
- while (exp > 0) {
- if ((exp & 1) == 1) {
- out /= base;
- }
- base *= base;
- exp >>= 1;
- }
- } else {
- // Fast integer power algorithm
- while (exp > 0) {
- if ((exp & 1) == 1) {
- out *= base;
- }
- base *= base;
- exp >>= 1;
- }
- }
-
- // Return
- return out;
- }
-
- /**
- * Round a double by a certain amount of sigfigs in base 10
- *
- * @param n number to round
- * @param sigfigs amount of sigfigs to round it to
- * @return rounded number
- */
- public static double round(double n, int sigfigs) {
- // The value 0 returns nan if not accounted for
- if (n == 0.0) {
- return 0.0;
- }
-
- // Digit place that number starts at
- int digits = (int) Math.floor(Math.log10(Math.abs(n)));
-
- // Amount to multiply before multiplying based on
- // the sigfigs and digits in the number
- double mul = fpow(10.0, sigfigs - digits);
-
- // Round number by the multiplier calculated
- return Math.round(n * mul) / mul;
- }
-
- private static final double FLT_ELIPSON = fpow(0.5, 32);
-
- /**
- * Compare a double to zero using a Elipson
- *
- * @param num number to compare to zero
- * @return if the number equals a number close to zero
- */
- public static boolean isZero(double num) {
- return Math.abs(num) < FLT_ELIPSON;
- }
}
diff --git a/src/com/stuypulse/stuylib/math/Swizzler.java b/src/com/stuypulse/stuylib/math/Swizzler.java
deleted file mode 100644
index bd69372e..00000000
--- a/src/com/stuypulse/stuylib/math/Swizzler.java
+++ /dev/null
@@ -1,1102 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.math;
-
-/**
- * A utility class that allows you to "Swizzle" vectors / scalars using standard notation commonly
- * found in graphics programming languages.
- *
- * @author Sam (sam.belliveau@gmail.com)
- */
-public final class Swizzler {
-
- private Swizzler() {
- /** This is a utility class */
- }
-
- /************************/
- /*** Swizzled doubles ***/
- /************************/
-
- /**
- * @param v double to swizzle with
- * @return swizzled double with component v
- */
- public static double x(double v) {
- return v;
- }
-
- /**
- * @param v double to swizzle with
- * @return swizzled Vector2D with components v, v
- */
- public static Vector2D xx(double v) {
- return new Vector2D(v, v);
- }
-
- /**
- * @param v double to swizzle with
- * @return swizzled Vector3D with components v, v, v
- */
- public static Vector3D xxx(double v) {
- return new Vector3D(v, v, v);
- }
-
- /**
- * @param v double to swizzle with
- * @return swizzled Vector3D with components v, v, 0
- */
- public static Vector3D xx_(double v) {
- return new Vector3D(v, v, 0.0);
- }
-
- /**
- * @param v double to swizzle with
- * @return swizzled Vector2D with components v, 0
- */
- public static Vector2D x_(double v) {
- return new Vector2D(v, 0.0);
- }
-
- /**
- * @param v double to swizzle with
- * @return swizzled Vector3D with components v, 0, v
- */
- public static Vector3D x_x(double v) {
- return new Vector3D(v, 0.0, v);
- }
-
- /**
- * @param v double to swizzle with
- * @return swizzled Vector3D with components v, 0, 0
- */
- public static Vector3D x__(double v) {
- return new Vector3D(v, 0.0, 0.0);
- }
-
- /**
- * @param v double to swizzle with
- * @return swizzled Vector2D with components 0, v
- */
- public static Vector2D _x(double v) {
- return new Vector2D(0.0, v);
- }
-
- /**
- * @param v double to swizzle with
- * @return swizzled Vector3D with components 0, v, v
- */
- public static Vector3D _xx(double v) {
- return new Vector3D(0.0, v, v);
- }
-
- /**
- * @param v double to swizzle with
- * @return swizzled Vector3D with components 0, v, 0
- */
- public static Vector3D _x_(double v) {
- return new Vector3D(0.0, v, 0.0);
- }
-
- /**
- * @param v double to swizzle with
- * @return swizzled Vector2D with components 0, 0
- */
- public static Vector2D __(double v) {
- return new Vector2D(0.0, 0.0);
- }
-
- /**
- * @param v double to swizzle with
- * @return swizzled Vector3D with components 0, 0, v
- */
- public static Vector3D __x(double v) {
- return new Vector3D(0.0, 0.0, v);
- }
-
- /**
- * @param v double to swizzle with
- * @return swizzled Vector3D with components 0, 0, 0
- */
- public static Vector3D ___(double v) {
- return new Vector3D(0.0, 0.0, 0.0);
- }
-
- /**************************/
- /*** Swizzled Vector2Ds ***/
- /**************************/
-
- /**
- * @param v vector to swizzle with
- * @return swizzled double with component x
- */
- public static double x(Vector2D v) {
- return v.x;
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components x, x
- */
- public static Vector2D xx(Vector2D v) {
- return new Vector2D(v.x, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, x, x
- */
- public static Vector3D xxx(Vector2D v) {
- return new Vector3D(v.x, v.x, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, x, y
- */
- public static Vector3D xxy(Vector2D v) {
- return new Vector3D(v.x, v.x, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, x, 0
- */
- public static Vector3D xx_(Vector2D v) {
- return new Vector3D(v.x, v.x, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components x, y
- */
- public static Vector2D xy(Vector2D v) {
- return new Vector2D(v.x, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, y, x
- */
- public static Vector3D xyx(Vector2D v) {
- return new Vector3D(v.x, v.y, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, y, y
- */
- public static Vector3D xyy(Vector2D v) {
- return new Vector3D(v.x, v.y, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, y, 0
- */
- public static Vector3D xy_(Vector2D v) {
- return new Vector3D(v.x, v.y, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components x, 0
- */
- public static Vector2D x_(Vector2D v) {
- return new Vector2D(v.x, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, 0, x
- */
- public static Vector3D x_x(Vector2D v) {
- return new Vector3D(v.x, 0.0, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, 0, y
- */
- public static Vector3D x_y(Vector2D v) {
- return new Vector3D(v.x, 0.0, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, 0, 0
- */
- public static Vector3D x__(Vector2D v) {
- return new Vector3D(v.x, 0.0, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled double with component y
- */
- public static double y(Vector2D v) {
- return v.y;
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components y, x
- */
- public static Vector2D yx(Vector2D v) {
- return new Vector2D(v.y, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, x, x
- */
- public static Vector3D yxx(Vector2D v) {
- return new Vector3D(v.y, v.x, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, x, y
- */
- public static Vector3D yxy(Vector2D v) {
- return new Vector3D(v.y, v.x, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, x, 0
- */
- public static Vector3D yx_(Vector2D v) {
- return new Vector3D(v.y, v.x, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components y, y
- */
- public static Vector2D yy(Vector2D v) {
- return new Vector2D(v.y, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, y, x
- */
- public static Vector3D yyx(Vector2D v) {
- return new Vector3D(v.y, v.y, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, y, y
- */
- public static Vector3D yyy(Vector2D v) {
- return new Vector3D(v.y, v.y, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, y, 0
- */
- public static Vector3D yy_(Vector2D v) {
- return new Vector3D(v.y, v.y, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components y, 0
- */
- public static Vector2D y_(Vector2D v) {
- return new Vector2D(v.y, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, 0, x
- */
- public static Vector3D y_x(Vector2D v) {
- return new Vector3D(v.y, 0.0, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, 0, y
- */
- public static Vector3D y_y(Vector2D v) {
- return new Vector3D(v.y, 0.0, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, 0, 0
- */
- public static Vector3D y__(Vector2D v) {
- return new Vector3D(v.y, 0.0, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components 0, x
- */
- public static Vector2D _x(Vector2D v) {
- return new Vector2D(0.0, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, x, x
- */
- public static Vector3D _xx(Vector2D v) {
- return new Vector3D(0.0, v.x, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, x, y
- */
- public static Vector3D _xy(Vector2D v) {
- return new Vector3D(0.0, v.x, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, x, 0
- */
- public static Vector3D _x_(Vector2D v) {
- return new Vector3D(0.0, v.x, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components 0, y
- */
- public static Vector2D _y(Vector2D v) {
- return new Vector2D(0.0, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, y, x
- */
- public static Vector3D _yx(Vector2D v) {
- return new Vector3D(0.0, v.y, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, y, y
- */
- public static Vector3D _yy(Vector2D v) {
- return new Vector3D(0.0, v.y, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, y, 0
- */
- public static Vector3D _y_(Vector2D v) {
- return new Vector3D(0.0, v.y, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components 0, 0
- */
- public static Vector2D __(Vector2D v) {
- return new Vector2D(0.0, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, 0, x
- */
- public static Vector3D __x(Vector2D v) {
- return new Vector3D(0.0, 0.0, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, 0, y
- */
- public static Vector3D __y(Vector2D v) {
- return new Vector3D(0.0, 0.0, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, 0, 0
- */
- public static Vector3D ___(Vector2D v) {
- return new Vector3D(0.0, 0.0, 0.0);
- }
-
- /**************************/
- /*** Swizzled Vector3Ds ***/
- /**************************/
-
- /**
- * @param v vector to swizzle with
- * @return swizzled double with component x
- */
- public static double x(Vector3D v) {
- return v.x;
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components x, x
- */
- public static Vector2D xx(Vector3D v) {
- return new Vector2D(v.x, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, x, x
- */
- public static Vector3D xxx(Vector3D v) {
- return new Vector3D(v.x, v.x, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, x, y
- */
- public static Vector3D xxy(Vector3D v) {
- return new Vector3D(v.x, v.x, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, x, z
- */
- public static Vector3D xxz(Vector3D v) {
- return new Vector3D(v.x, v.x, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, x, 0
- */
- public static Vector3D xx_(Vector3D v) {
- return new Vector3D(v.x, v.x, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components x, y
- */
- public static Vector2D xy(Vector3D v) {
- return new Vector2D(v.x, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, y, x
- */
- public static Vector3D xyx(Vector3D v) {
- return new Vector3D(v.x, v.y, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, y, y
- */
- public static Vector3D xyy(Vector3D v) {
- return new Vector3D(v.x, v.y, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, y, z
- */
- public static Vector3D xyz(Vector3D v) {
- return new Vector3D(v.x, v.y, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, y, 0
- */
- public static Vector3D xy_(Vector3D v) {
- return new Vector3D(v.x, v.y, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components x, z
- */
- public static Vector2D xz(Vector3D v) {
- return new Vector2D(v.x, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, z, x
- */
- public static Vector3D xzx(Vector3D v) {
- return new Vector3D(v.x, v.z, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, z, y
- */
- public static Vector3D xzy(Vector3D v) {
- return new Vector3D(v.x, v.z, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, z, z
- */
- public static Vector3D xzz(Vector3D v) {
- return new Vector3D(v.x, v.z, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, z, 0
- */
- public static Vector3D xz_(Vector3D v) {
- return new Vector3D(v.x, v.z, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components x, 0
- */
- public static Vector2D x_(Vector3D v) {
- return new Vector2D(v.x, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, 0, x
- */
- public static Vector3D x_x(Vector3D v) {
- return new Vector3D(v.x, 0.0, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, 0, y
- */
- public static Vector3D x_y(Vector3D v) {
- return new Vector3D(v.x, 0.0, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, 0, z
- */
- public static Vector3D x_z(Vector3D v) {
- return new Vector3D(v.x, 0.0, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components x, 0, 0
- */
- public static Vector3D x__(Vector3D v) {
- return new Vector3D(v.x, 0.0, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled double with component y
- */
- public static double y(Vector3D v) {
- return v.y;
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components y, x
- */
- public static Vector2D yx(Vector3D v) {
- return new Vector2D(v.y, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, x, x
- */
- public static Vector3D yxx(Vector3D v) {
- return new Vector3D(v.y, v.x, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, x, y
- */
- public static Vector3D yxy(Vector3D v) {
- return new Vector3D(v.y, v.x, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, x, z
- */
- public static Vector3D yxz(Vector3D v) {
- return new Vector3D(v.y, v.x, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, x, 0
- */
- public static Vector3D yx_(Vector3D v) {
- return new Vector3D(v.y, v.x, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components y, y
- */
- public static Vector2D yy(Vector3D v) {
- return new Vector2D(v.y, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, y, x
- */
- public static Vector3D yyx(Vector3D v) {
- return new Vector3D(v.y, v.y, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, y, y
- */
- public static Vector3D yyy(Vector3D v) {
- return new Vector3D(v.y, v.y, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, y, z
- */
- public static Vector3D yyz(Vector3D v) {
- return new Vector3D(v.y, v.y, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, y, 0
- */
- public static Vector3D yy_(Vector3D v) {
- return new Vector3D(v.y, v.y, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components y, z
- */
- public static Vector2D yz(Vector3D v) {
- return new Vector2D(v.y, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, z, x
- */
- public static Vector3D yzx(Vector3D v) {
- return new Vector3D(v.y, v.z, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, z, y
- */
- public static Vector3D yzy(Vector3D v) {
- return new Vector3D(v.y, v.z, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, z, z
- */
- public static Vector3D yzz(Vector3D v) {
- return new Vector3D(v.y, v.z, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, z, 0
- */
- public static Vector3D yz_(Vector3D v) {
- return new Vector3D(v.y, v.z, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components y, 0
- */
- public static Vector2D y_(Vector3D v) {
- return new Vector2D(v.y, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, 0, x
- */
- public static Vector3D y_x(Vector3D v) {
- return new Vector3D(v.y, 0.0, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, 0, y
- */
- public static Vector3D y_y(Vector3D v) {
- return new Vector3D(v.y, 0.0, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, 0, z
- */
- public static Vector3D y_z(Vector3D v) {
- return new Vector3D(v.y, 0.0, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components y, 0, 0
- */
- public static Vector3D y__(Vector3D v) {
- return new Vector3D(v.y, 0.0, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled double with component z
- */
- public static double z(Vector3D v) {
- return v.z;
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components z, x
- */
- public static Vector2D zx(Vector3D v) {
- return new Vector2D(v.z, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, x, x
- */
- public static Vector3D zxx(Vector3D v) {
- return new Vector3D(v.z, v.x, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, x, y
- */
- public static Vector3D zxy(Vector3D v) {
- return new Vector3D(v.z, v.x, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, x, z
- */
- public static Vector3D zxz(Vector3D v) {
- return new Vector3D(v.z, v.x, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, x, 0
- */
- public static Vector3D zx_(Vector3D v) {
- return new Vector3D(v.z, v.x, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components z, y
- */
- public static Vector2D zy(Vector3D v) {
- return new Vector2D(v.z, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, y, x
- */
- public static Vector3D zyx(Vector3D v) {
- return new Vector3D(v.z, v.y, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, y, y
- */
- public static Vector3D zyy(Vector3D v) {
- return new Vector3D(v.z, v.y, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, y, z
- */
- public static Vector3D zyz(Vector3D v) {
- return new Vector3D(v.z, v.y, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, y, 0
- */
- public static Vector3D zy_(Vector3D v) {
- return new Vector3D(v.z, v.y, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components z, z
- */
- public static Vector2D zz(Vector3D v) {
- return new Vector2D(v.z, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, z, x
- */
- public static Vector3D zzx(Vector3D v) {
- return new Vector3D(v.z, v.z, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, z, y
- */
- public static Vector3D zzy(Vector3D v) {
- return new Vector3D(v.z, v.z, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, z, z
- */
- public static Vector3D zzz(Vector3D v) {
- return new Vector3D(v.z, v.z, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, z, 0
- */
- public static Vector3D zz_(Vector3D v) {
- return new Vector3D(v.z, v.z, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components z, 0
- */
- public static Vector2D z_(Vector3D v) {
- return new Vector2D(v.z, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, 0, x
- */
- public static Vector3D z_x(Vector3D v) {
- return new Vector3D(v.z, 0.0, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, 0, y
- */
- public static Vector3D z_y(Vector3D v) {
- return new Vector3D(v.z, 0.0, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, 0, z
- */
- public static Vector3D z_z(Vector3D v) {
- return new Vector3D(v.z, 0.0, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components z, 0, 0
- */
- public static Vector3D z__(Vector3D v) {
- return new Vector3D(v.z, 0.0, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components 0, x
- */
- public static Vector2D _x(Vector3D v) {
- return new Vector2D(0.0, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, x, x
- */
- public static Vector3D _xx(Vector3D v) {
- return new Vector3D(0.0, v.x, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, x, y
- */
- public static Vector3D _xy(Vector3D v) {
- return new Vector3D(0.0, v.x, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, x, z
- */
- public static Vector3D _xz(Vector3D v) {
- return new Vector3D(0.0, v.x, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, x, 0
- */
- public static Vector3D _x_(Vector3D v) {
- return new Vector3D(0.0, v.x, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components 0, y
- */
- public static Vector2D _y(Vector3D v) {
- return new Vector2D(0.0, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, y, x
- */
- public static Vector3D _yx(Vector3D v) {
- return new Vector3D(0.0, v.y, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, y, y
- */
- public static Vector3D _yy(Vector3D v) {
- return new Vector3D(0.0, v.y, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, y, z
- */
- public static Vector3D _yz(Vector3D v) {
- return new Vector3D(0.0, v.y, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, y, 0
- */
- public static Vector3D _y_(Vector3D v) {
- return new Vector3D(0.0, v.y, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components 0, z
- */
- public static Vector2D _z(Vector3D v) {
- return new Vector2D(0.0, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, z, x
- */
- public static Vector3D _zx(Vector3D v) {
- return new Vector3D(0.0, v.z, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, z, y
- */
- public static Vector3D _zy(Vector3D v) {
- return new Vector3D(0.0, v.z, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, z, z
- */
- public static Vector3D _zz(Vector3D v) {
- return new Vector3D(0.0, v.z, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, z, 0
- */
- public static Vector3D _z_(Vector3D v) {
- return new Vector3D(0.0, v.z, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector2D with components 0, 0
- */
- public static Vector2D __(Vector3D v) {
- return new Vector2D(0.0, 0.0);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, 0, x
- */
- public static Vector3D __x(Vector3D v) {
- return new Vector3D(0.0, 0.0, v.x);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, 0, y
- */
- public static Vector3D __y(Vector3D v) {
- return new Vector3D(0.0, 0.0, v.y);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, 0, z
- */
- public static Vector3D __z(Vector3D v) {
- return new Vector3D(0.0, 0.0, v.z);
- }
-
- /**
- * @param v vector to swizzle with
- * @return swizzled Vector3D with components 0, 0, 0
- */
- public static Vector3D ___(Vector3D v) {
- return new Vector3D(0.0, 0.0, 0.0);
- }
-}
diff --git a/src/com/stuypulse/stuylib/math/Vector2D.java b/src/com/stuypulse/stuylib/math/Vector2D.java
index c3450c04..38a7256d 100644
--- a/src/com/stuypulse/stuylib/math/Vector2D.java
+++ b/src/com/stuypulse/stuylib/math/Vector2D.java
@@ -4,8 +4,6 @@
package com.stuypulse.stuylib.math;
-import com.stuypulse.stuylib.util.HashBuilder;
-
import edu.wpi.first.math.geometry.Translation2d;
/**
@@ -17,9 +15,6 @@
*/
public final class Vector2D {
- // Configuration for toString() function
- private static final int STRING_SIGFIGS = 5;
-
// Vector Constnants
public static final Vector2D kOrigin = new Vector2D(0, 0);
public static final Vector2D kI = new Vector2D(1, 0);
@@ -103,11 +98,6 @@ public Angle getAngle() {
return Angle.fromVector(this);
}
- /** @return polar coordinates created from this vector */
- public Polar2D getPolar() {
- return new Polar2D(this);
- }
-
/**
* @param angle angle to rotate by
* @param origin point to rotate around
@@ -196,7 +186,7 @@ public double cross(Vector2D other) {
/** @return result of normalizing the Vector2D so that the magnitude is 1.0 */
public Vector2D normalize() {
final double magnitude = this.distance();
- if (SLMath.isZero(magnitude)) {
+ if (magnitude <= 1e-9) {
return Vector2D.kI;
} else {
return this.div(magnitude);
@@ -243,25 +233,4 @@ public boolean equals(Object other) {
return false;
}
-
- /**
- * @see com.stuypulse.stuylib.util.HashBuilder#combineHash(int, int)
- * @return hashCode generated by combining the hashes of the x and y components
- */
- @Override
- public int hashCode() {
- return HashBuilder.combineHash(Double.hashCode(x), Double.hashCode(y));
- }
-
- /** @return string representation of Vector2D */
- @Override
- public String toString() {
- StringBuilder out = new StringBuilder();
- out.append("Vector2D(");
- out.append(SLMath.round(x, STRING_SIGFIGS));
- out.append(", ");
- out.append(SLMath.round(y, STRING_SIGFIGS));
- out.append(")");
- return out.toString();
- }
}
diff --git a/src/com/stuypulse/stuylib/math/Vector3D.java b/src/com/stuypulse/stuylib/math/Vector3D.java
deleted file mode 100644
index 8fb2d42a..00000000
--- a/src/com/stuypulse/stuylib/math/Vector3D.java
+++ /dev/null
@@ -1,247 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.math;
-
-import com.stuypulse.stuylib.util.HashBuilder;
-
-/**
- * A Vector3D class that stores x, y, and z position data. It is made to work with the StuyLib Angle
- * class and be easy to use. It is a standard Vector3D class with all of the functions that you
- * would expect.
- *
- * @author Vincent (vinowang921@gmail.com)
- */
-public final class Vector3D {
-
- // Configuration for toString() function
- private static final int STRING_SIGFIGS = 5;
-
- // Vector Constnants
- public static final Vector3D kOrigin = new Vector3D(0, 0, 0);
- public static final Vector3D kI = new Vector3D(1, 0, 0);
- public static final Vector3D kJ = new Vector3D(0, 1, 0);
- public static final Vector3D kK = new Vector3D(0, 0, 1);
-
- /****************************/
- /*** Class Implementation ***/
- /****************************/
-
- /** The x position of the Vector3D */
- public final double x;
-
- /** The y position of the Vector3D */
- public final double y;
-
- /** The z position of the Vector3D */
- public final double z;
-
- /**
- * @param x the x axis of the vector
- * @param y the y axis of the vector
- * @param z the z axis of the vector
- */
- public Vector3D(double x, double y, double z) {
- this.x = x;
- this.y = y;
- this.z = z;
- }
-
- /**
- * @param axis Array of size 3 where the first element will be defined as x, the second will be
- * defined as y, and the third will be defined as z.
- */
- public Vector3D(double[] axis) {
- if (axis.length != 3) {
- throw new IllegalArgumentException("axis must be of size 3");
- }
-
- this.x = axis[0];
- this.y = axis[1];
- this.z = axis[2];
- }
-
- /** @return double array of size 3 defined as {x, y, z} */
- public double[] getArray() {
- return new double[] {x, y, z};
- }
-
- /**
- * @param other other Vector3D
- * @return the distance between the two Vector3Ds
- */
- public double distance(Vector3D other) {
- double dx = this.x - other.x;
- double dy = this.y - other.y;
- double dz = this.z - other.z;
-
- return Math.sqrt(dx * dx + dy * dy + dz * dz);
- }
-
- /** @return distance from 0, 0, 0 */
- public double distance() {
- return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
- }
-
- /** @return magnitude of the vector (same as distance from 0, 0, 0) */
- public double magnitude() {
- return this.distance();
- }
-
- /**
- * @param angle angle to rotate by
- * @return result of rotation
- */
- public Vector3D rotateX(Angle angle) {
- return new Vector3D(
- +this.x,
- +this.y * angle.cos() + +this.x * angle.sin(),
- -this.x * angle.sin() + +this.z * angle.cos());
- }
-
- /**
- * @param angle angle to rotate by
- * @return result of rotation
- */
- public Vector3D rotateY(Angle angle) {
- return new Vector3D(
- +this.x * angle.cos() + +this.z * angle.sin(),
- +this.y,
- -this.x * angle.sin() + +this.z * angle.cos());
- }
-
- /**
- * @param angle angle to rotate by
- * @return result of rotation
- */
- public Vector3D rotateZ(Angle angle) {
- return new Vector3D(
- +this.x * angle.cos() + -this.y * angle.sin(),
- +this.x * angle.sin() + +this.y * angle.cos(),
- +this.z);
- }
-
- /**
- * @param other Vector3D to be added by
- * @return sum of the two Vector3Ds
- */
- public Vector3D add(Vector3D other) {
- return new Vector3D(this.x + other.x, this.y + other.y, this.z + other.z);
- }
-
- /**
- * @param other Vector3D to be subtracted from
- * @return difference between the two Vector3Ds
- */
- public Vector3D sub(Vector3D other) {
- return new Vector3D(this.x - other.x, this.y - other.y, this.z - other.z);
- }
-
- /**
- * @param other Vector3D to be multiplied by
- * @return product of the two Vector3Ds
- */
- public Vector3D mul(Vector3D other) {
- return new Vector3D(this.x * other.x, this.y * other.y, this.z * other.z);
- }
-
- /**
- * @param other Vector3D to be divided by
- * @return division of the two Vector3Ds
- */
- public Vector3D div(Vector3D other) {
- return new Vector3D(this.x / other.x, this.y / other.y, this.z / other.z);
- }
-
- /**
- * @param multiplier amount to multiply the x and y components by
- * @return result of multiplying the x and y components by the multiplier
- */
- public Vector3D mul(double multiplier) {
- return new Vector3D(this.x * multiplier, this.y * multiplier, this.z * multiplier);
- }
-
- /**
- * @param divisor amount to divide the x and y components by
- * @return result of dividing the x and y components by the divisor
- */
- public Vector3D div(double divisor) {
- return new Vector3D(this.x / divisor, this.y / divisor, this.z / divisor);
- }
-
- /**
- * @param other Vector3D to perform dot product with
- * @return result of performing the dot product with the other Vector3D
- */
- public double dot(Vector3D other) {
- return this.x * other.x + this.y * other.y + this.z * other.z;
- }
-
- /**
- * @param other Vector3D to perform cross product with
- * @return result of performing the cross product with the other Vector3D
- */
- public Vector3D cross(Vector3D other) {
- return new Vector3D(
- this.y * other.z - this.z * other.y,
- this.z * other.x - this.x * other.z,
- this.x * other.y - this.y * other.x);
- }
-
- /** @return result of normalizing the Vector3D so that the magnitude is 1.0 */
- public Vector3D normalize() {
- double magnitude = this.distance();
- if (SLMath.isZero(magnitude)) {
- return Vector3D.kI;
- } else {
- return this.div(magnitude);
- }
- }
-
- /** @return result of negating the x, y, and z components */
- public Vector3D negative() {
- return new Vector3D(-this.x, -this.y, -this.z);
- }
-
- /**
- * @param other object to compare to
- * @return both objects are Vector3Ds and they equal eachother
- */
- @Override
- public boolean equals(Object other) {
- if (this == other) {
- return true;
- }
-
- if (other instanceof Vector3D) {
- Vector3D o = (Vector3D) other;
- return this.x == o.x && this.y == o.y && this.z == o.z;
- }
-
- return false;
- }
-
- /**
- * @see com.stuypulse.stuylib.util.HashBuilder#combineHash(int, int)
- * @return hashCode generated by combining the hashes of the x, y, and z components
- */
- @Override
- public int hashCode() {
- return new HashBuilder().append(this.x).append(this.y).append(this.z).toHashCode();
- }
-
- /** @return string representation of Vector3D */
- @Override
- public String toString() {
- StringBuilder out = new StringBuilder();
- out.append("Vector3D(");
- out.append(SLMath.round(x, STRING_SIGFIGS));
- out.append(", ");
- out.append(SLMath.round(y, STRING_SIGFIGS));
- out.append(", ");
- out.append(SLMath.round(z, STRING_SIGFIGS));
- out.append(")");
- return out.toString();
- }
-}
diff --git a/src/com/stuypulse/stuylib/math/interpolation/CubicInterpolator.java b/src/com/stuypulse/stuylib/math/interpolation/CubicInterpolator.java
deleted file mode 100644
index c1030ff1..00000000
--- a/src/com/stuypulse/stuylib/math/interpolation/CubicInterpolator.java
+++ /dev/null
@@ -1,126 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.math.interpolation;
-
-import com.stuypulse.stuylib.math.Vector2D;
-
-/**
- * This class uses Cubic Hermite interpolation (to find the RPM of the shooter). This class gets a
- * polynomial that represents the model. We then use the polynomial to interpolate.
- *
- * The polynomial can be written as P(t) = h00(t)p0 + h10(t)m0 + h01(t)p1 + h11(t)m1
- *
- * in which P(t) is the polynomial p0 and p1 are the y coordinates of the reference points h00(t)
- * = 2(t * t * t) - 3(t * t) + 1 h10(t) = (t* t * t) - 2(t * t) + t h01(t) = -2(t * t * t) + 3(t *
- * t) h11(t) = (t * t * t) - (t * t) m0, m1 is the slope (derivative) of the points t = time
- * (arbitrary point in interval)
- *
- * It can be thought of as interpolating between the derivatives.
- * https://www.desmos.com/calculator/wcjns2ayab Note: the two points surrounding a point is
- * parrellel to the tangent. To get the slope of a point, we look at the points around it.
- *
- * more information can be found here: https://en.wikipedia.org/wiki/Cubic_Hermite_spline
- *
- * @author Sam (sam.belliveau@gmail.com)
- * @author Eric (ericlin071906@gmail.com)
- */
-public class CubicInterpolator implements Interpolator {
-
- /**
- * Get the tangents of the two reference points surrounding the point to be interpolated
- *
- * @param left the left point
- * @param right the right point
- * @return the slope/tangent (note that the slope and tangents are parallel
- */
- private static double getTangent(Vector2D left, Vector2D right) {
- return (right.y - left.y) / (right.x - left.x);
- }
-
- private final int size;
- private final Vector2D[] points;
- private final double[] tangents;
-
- /**
- * This constructor creates a new cubic hermite spline interpolator. It takes in at least 4
- * reference points it gets the tangent of every point by the two points around it and stores it
- * in a array
- *
- * @param points the reference points we interpolate from.
- */
- public CubicInterpolator(Vector2D... points) {
- if (points.length < 4) {
- throw new IllegalArgumentException("CubicInterpolator requires at least 4 points");
- }
-
- this.size = points.length;
- this.points = Interpolator.getSortedPoints(points);
- this.tangents = new double[size];
-
- // gets the tangent (m0 and m1)
- // note that the tangent of the points are parrallel to the slope of the 2 points
- // surrounding it
- this.tangents[0] = getTangent(this.points[0], this.points[1]);
- this.tangents[size - 1] = getTangent(this.points[size - 2], this.points[size - 1]);
-
- for (int i = 1; i < size - 1; ++i) {
- this.tangents[i] = getTangent(this.points[i - 1], this.points[i + 1]);
- }
- }
-
- @Override
- public double interpolate(double x) {
- // Find the nearest reference points to the distance
- Vector2D left = Vector2D.kOrigin; // kOrigin is (0,0)
- Vector2D right = Vector2D.kOrigin;
-
- double left_tangent = 0;
- double right_tangent = 0;
-
- // Solve for the tangents of the left and right points that surround the target point
- for (int i = 1; i < points.length; i++) {
- Vector2D left_temp = points[i - 1];
- Vector2D right_temp = points[i - 0];
-
- if (left_temp.x <= x && x <= right_temp.x) {
- left = left_temp;
- right = right_temp;
-
- left_tangent = tangents[i - 1];
- right_tangent = tangents[i - 0];
-
- break;
- }
- }
-
- double gap = (right.x - left.x);
-
- // Apply the formula
- double t = (x - left.x) / gap;
- double tt = t * t;
- double ttt = tt * t;
-
- double h00 = 2 * ttt - 3 * tt + 1;
- double h10 = ttt - 2 * tt + t;
- double h01 = -2 * ttt + 3 * tt;
- double h11 = ttt - tt;
-
- return h00 * left.y + h10 * gap * left_tangent + h01 * right.y + h11 * gap * right_tangent;
- }
-
- // Tests
- public static void main(String... args) {
- Interpolator test =
- new CubicInterpolator(
- new Vector2D(1, 1),
- new Vector2D(3, 2),
- new Vector2D(8, 5),
- new Vector2D(10, 2));
-
- for (double i = 3; i < 8; i += 0.5) {
- System.out.println(new Vector2D(i, test.interpolate(i)));
- }
- }
-}
diff --git a/src/com/stuypulse/stuylib/math/interpolation/Interpolator.java b/src/com/stuypulse/stuylib/math/interpolation/Interpolator.java
deleted file mode 100644
index 185b4d05..00000000
--- a/src/com/stuypulse/stuylib/math/interpolation/Interpolator.java
+++ /dev/null
@@ -1,74 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.math.interpolation;
-
-import com.stuypulse.stuylib.math.Vector2D;
-import com.stuypulse.stuylib.streams.numbers.filters.IFilter;
-
-import java.util.Arrays;
-
-/**
- * This class serves as a baseline for all other classes. The Interpolator is a filter that will
- * find the values of any point given a few reference points
- *
- * @author Eric (ericlin071906@gmail.com)
- * @author Ivan Wei (ivanw8288@gmail.com)
- */
-public interface Interpolator extends IFilter {
-
- /**
- * A behavior that takes in a double and returns a double
- *
- * @param x point to be intepolated
- * @return interpolated value
- */
- double interpolate(double x);
-
- // doesn't NEED to be overrided (hence the default). All filters need a get() method
- // when get() is called, interpolated() will be passed through
- default double get(double x) {
- return interpolate(x);
- }
-
- /**
- * Returns the index of the point with the greatest x-coordinate less than or equal to x, or -1
- * if it is lower than every element. Assumes that the array is sorted.
- *
- * @param x the x-value to compare to
- * @param points the points to find the lower bound among
- * @return the index of the lower bound, or -1
- */
- public static int indexLowerBound(double x, Vector2D... points) {
- for (int i = 0; i < points.length; ++i) {
- if (points[i].x > x) {
- return i - 1;
- }
- }
- return points.length - 1;
- }
-
- /**
- * Performs an in-place sort by the value of x from smallest to greatest
- *
- * @param points the array for which to sort reference points
- * @return the parameter array, for chaining
- */
- public static Vector2D[] sortPoints(Vector2D[] points) {
- Arrays.sort(points, (lhs, rhs) -> (int) (Math.signum(lhs.x - rhs.x)));
- return points;
- }
-
- /**
- * Returns a sorted array of reference points by the value of x from smallest to greatest
- *
- * @param points reference points
- * @return an array of sorted reference points
- */
- public static Vector2D[] getSortedPoints(Vector2D... points) {
- Vector2D[] output = points.clone();
- sortPoints(points);
- return output;
- }
-}
diff --git a/src/com/stuypulse/stuylib/math/interpolation/IntervalInterpolator.java b/src/com/stuypulse/stuylib/math/interpolation/IntervalInterpolator.java
deleted file mode 100644
index 2e4f9fec..00000000
--- a/src/com/stuypulse/stuylib/math/interpolation/IntervalInterpolator.java
+++ /dev/null
@@ -1,39 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.math.interpolation;
-
-import com.stuypulse.stuylib.math.Vector2D;
-
-/**
- * This class uses two reference points to interpolate all points on a line between them
- *
- * @author Eric (ericlin071906@gmail.com)
- */
-public class IntervalInterpolator implements Interpolator {
- private final Vector2D point1;
- private final Vector2D point2;
-
- /**
- * Store the two reference points
- *
- * @param point1 first point to interpolate from
- * @param point2 second point to interpolate from
- */
- public IntervalInterpolator(Vector2D point1, Vector2D point2) {
- this.point1 = point1;
- this.point2 = point2;
- }
-
- @Override
- public double interpolate(double x) {
- double range = point2.x - point1.x;
- double slope = (point2.y - point1.y) / range;
- double yIntercept = point1.y - (slope * point1.x); // y = mx + b
-
- double interpolatedValue = slope * x + yIntercept;
-
- return interpolatedValue;
- }
-}
diff --git a/src/com/stuypulse/stuylib/math/interpolation/LinearInterpolator.java b/src/com/stuypulse/stuylib/math/interpolation/LinearInterpolator.java
deleted file mode 100644
index ae96e9eb..00000000
--- a/src/com/stuypulse/stuylib/math/interpolation/LinearInterpolator.java
+++ /dev/null
@@ -1,76 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.math.interpolation;
-
-import com.stuypulse.stuylib.math.Vector2D;
-
-/**
- * Using this class will allow you to linearly interpolate between two surrounding reference points.
- *
- * @author Eric Lin (ericlin071906@gmail.com, Github: cire694)
- * @author Sam (sam.belliveau@gmail.com)
- */
-public class LinearInterpolator implements Interpolator {
-
- private final Vector2D[] points;
-
- // Sort the points in ascending order
- public LinearInterpolator(Vector2D... points) {
- if (points.length < 2) {
- throw new IllegalArgumentException("Linear Interpolator needs at least 2 points");
- }
-
- this.points = Interpolator.getSortedPoints(points);
- }
-
- @Override
- /**
- * @param x the point of interpolation to get an output
- * @return interpolated value
- */
- public double interpolate(double x) {
- // Find the nearest refernce points to the distance
- Vector2D left = Vector2D.kOrigin; // kOrigin is (0,0)
- Vector2D right = Vector2D.kOrigin;
-
- // Searching for the points on the left and right of the target point.
-
- if (x < points[0].x) {
- left = points[0];
- right = points[1];
- } else if (x > points[points.length - 1].x) {
- left = points[points.length - 2];
- right = points[points.length - 1];
- } else {
- for (int i = 1; i < points.length; i++) {
- Vector2D left_temp = points[i - 1];
- Vector2D right_temp = points[i - 0];
-
- if (left_temp.x <= x && x <= right_temp.x) {
- left = left_temp;
- right = right_temp;
-
- break;
- }
- }
- }
-
- return new IntervalInterpolator(left, right).interpolate(x);
- }
-
- // Tests
- public static void main(String... args) {
- Interpolator test =
- new LinearInterpolator(
- new Vector2D(1, 6),
- new Vector2D(6.5, 3),
- new Vector2D(12, 6),
- new Vector2D(9, 1));
-
- for (double i = 1; i < 12; i += 0.5) {
- System.out.println(new Vector2D(i, test.interpolate(i)));
- }
- }
-}
diff --git a/src/com/stuypulse/stuylib/math/interpolation/NearestInterpolator.java b/src/com/stuypulse/stuylib/math/interpolation/NearestInterpolator.java
deleted file mode 100644
index cec8f3ff..00000000
--- a/src/com/stuypulse/stuylib/math/interpolation/NearestInterpolator.java
+++ /dev/null
@@ -1,118 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.math.interpolation;
-
-import com.stuypulse.stuylib.math.SLMath;
-import com.stuypulse.stuylib.math.Vector2D;
-
-import java.util.function.BiFunction;
-
-/**
- * A nearest interpolator takes the y-value of the reference point closest on the x-axis.
- *
- * There are three interpolation "biases": left, center, right. The center "bias" will simply use
- * x-axis distance to find the nearest reference point to the x-value being interpolated for.
- * However, the left and right "biases" will only use reference points to the left and right,
- * respectively.
- *
- * Because left and right biases reject points, they may not have reference points for certain
- * x-values, in which case extrapolation is done using the y-value of the nearest point.
- *
- * @author Myles Pasetsky
- */
-public class NearestInterpolator implements Interpolator {
-
- /** A bias describes how the interpolator will accept or reject points. */
- public static enum Bias {
- // use points to the left
- kLeft((x, point) -> x >= point.x),
-
- // use any point
- kCenter((x, point) -> true),
-
- // use points to the right
- kRight((x, point) -> x <= point.x);
-
- private BiFunction There must be at least one reference point.
- *
- * @param bias bias mode
- * @param points reference points
- */
- public NearestInterpolator(Bias bias, Vector2D... points) {
- if (points.length < 1) {
- throw new IllegalArgumentException("Nearest Interpolator requires 1 point");
- }
-
- mPoints = Interpolator.getSortedPoints(points);
- mBias = bias;
- }
-
- /**
- * Given an x-value, returns the y-value of the nearest reference point.
- *
- * Due to biasing of reference points, there may be no point to refer to. In this case,
- * extrapolation is done. This means if the input x is biased to the left, but there are no
- * reference points to its left, it will use the rightmost point.
- *
- * @param x the input value to interpolate the value of
- * @return the interpolated value
- */
- @Override
- public double interpolate(double x) {
- double nearest = Double.MAX_VALUE;
- double y = Double.NaN;
-
- for (Vector2D point : mPoints) {
- if (!mBias.accept(x, point)) continue;
-
- double distance = Math.abs(point.x - x);
- if (distance < nearest) {
- nearest = distance;
- y = point.y;
- }
- }
-
- if (Double.isNaN(y)) {
- if (x < mPoints[0].x) return mPoints[0].y;
- else return mPoints[mPoints.length - 1].y;
- }
-
- return y;
- }
-
- public static void main(String[] args) {
- for (Bias bias : new Bias[] {Bias.kLeft, Bias.kCenter, Bias.kRight}) {
- System.out.println(bias.name());
-
- NearestInterpolator interp =
- new NearestInterpolator(bias, new Vector2D(+0.25, +1), new Vector2D(+0.75, -1));
-
- for (double i = 0; i <= 1.0; i += 0.05) {
- System.out.println(SLMath.round(i, 2) + " -> " + interp.get(i));
- }
- System.out.println();
- }
- }
-}
diff --git a/src/com/stuypulse/stuylib/math/interpolation/PolyInterpolator.java b/src/com/stuypulse/stuylib/math/interpolation/PolyInterpolator.java
deleted file mode 100644
index 6f781801..00000000
--- a/src/com/stuypulse/stuylib/math/interpolation/PolyInterpolator.java
+++ /dev/null
@@ -1,138 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.math.interpolation;
-
-import com.stuypulse.stuylib.math.Vector2D;
-
-import java.util.ArrayList;
-
-/**
- * This class uses Lagrange polynomial interpolation. It derives an equation for a set of points in
- * the form
- *
- * P(x) = a(x) + b(x) + c(x) ...
- *
- * where a(x), b(x), c(x) .., is a "sub" - polynomial / "partial" - polynomial.
- *
- * These partial polynomials are derived from the reference data provided. The partial polynomial
- * is derived by a(x-r1)(x-r2)(x-r3)... in where
- *
- * r1, r2, r3,... are the x coordinates of the reference points NOT including the current
- * reference point a is the y coordinate current reference point divided by (x-r1)(x-r2)(x-r3)...,
- *
- * where x is replaced by the current x coordinate of the reference point, and NOT including the
- * current reference point.
- *
- * We then sum up all the partial polynomials to get the final polynomial. This final polynomial
- * is a polynomial that all reference points will pass through. We plug the x value of the y we want
- * to find into this polynomial and it will return the y value.
- *
- * @author Eric Lin (ericlin071906@gmail.com)
- * @author Myles Pasetsky (selym3 on github)
- */
-public class PolyInterpolator implements Interpolator {
-
- /**
- * This class contains a constructor that creates a polynomial. It has several functions that
- * can be called
- */
- private static class Polynomial {
- private double a;
- private ArrayList If a function you want is not implemented, use {@link SLNetworkTable#getTable()}, {@link
- * SLNetworkTable#getGenericEntry(String)}, or {@link SLNetworkTable#getInstance()} to call the
- * function yourself
- *
- * @author Sam (sam.belliveau@gmail.com)
- */
-public class SLNetworkTable {
-
- /*********************/
- /***** FACTORIES *****/
- /*********************/
-
- /**
- * Opens network table on local device. IE a robot opens a network table for other devices to
- * connect to
- *
- * @param table network table name
- * @return Configured Network Table Wrapper
- */
- public static SLNetworkTable open(String table) {
- return open(NetworkTableInstance.getDefault(), table);
- }
-
- /**
- * Opens network table that is connected to a robot. IE a program connecting to a robot.
- *
- * @param team team number
- * @param table network table name
- * @return Configured Network Table Wrapper
- */
- public static SLNetworkTable open(int team, String table) {
- NetworkTableInstance instance = NetworkTableInstance.create();
- instance.startClient4("stuylib");
- instance.setServerTeam(team);
- return open(instance, table);
- }
-
- /**
- * Opens network table with special instance.
- *
- * @param instance NetworkTableInstance
- * @param table network table name
- * @return Configured Network Table Wrapper
- */
- public static SLNetworkTable open(NetworkTableInstance instance, String table) {
- return new SLNetworkTable(instance, table);
- }
-
- /*********************/
- /***** VARIABLES *****/
- /*********************/
-
- private NetworkTableInstance mInstance; // Instance contains IP/Related
- // information
- private NetworkTable mTable; // Current Data Table
- private String mTableName = ""; // Name of Data Table
-
- /************************/
- /***** CONSTRUCTORS *****/
- /************************/
-
- /**
- * Creates a Network Table Wrapper opened on table "tableName", and with the a special
- * NetworkTableInstance (ie. if you are making a client)
- *
- * @param tableName network table name
- * @param instance custom network table instance
- */
- private SLNetworkTable(NetworkTableInstance instance, String table) {
- mInstance = instance;
- mTable = mInstance.getTable(table);
- mTableName = table;
- }
-
- /****************************/
- /***** VARIABLE GETTERS *****/
- /****************************/
-
- /**
- * Gets current network table instance
- *
- * @return current network table instance
- */
- public NetworkTableInstance getInstance() {
- return mInstance;
- }
-
- /**
- * Gets current network table
- *
- * @return current network table
- */
- public NetworkTable getTable() {
- return mTable;
- }
-
- /**
- * Gets current network table name
- *
- * @return current network table name
- */
- public String getTableName() {
- return mTableName;
- }
-
- /************************/
- /***** MISC GETTERS *****/
- /************************/
-
- /**
- * Checks if network table is connected
- *
- * @return if network table is connected
- */
- public boolean isConnected() {
- return getInstance().isConnected();
- }
-
- /**
- * Gets a set of all key names in network table
- *
- * @return set of key names in network table
- */
- public Set If you only have one limelight, this is most likely the constructor you want to use.
- *
- * @return instance of limelight
- */
- public static Limelight getInstance() {
- if (mDefaultInstance == null) mDefaultInstance = new Limelight();
- return mDefaultInstance;
- }
-
- /**
- * Returns a Limelight Class using a custom table name.
- *
- * If you have multiple limelights, this is most likely the constructor you want to use.
- *
- * @param tableName the table name of the limelight
- * @return instance of limelight
- */
- public static Limelight getInstance(String tableName) {
- return new Limelight(tableName);
- }
-
- /********************/
- /*** Constructors ***/
- /********************/
-
- /**
- * Construct a Limelight Class using the default table name.
- *
- * If you only have one limelight, this is most likely the constructor you want to use.
- */
- private Limelight() {
- table = new LimelightTable();
- }
-
- /**
- * Construct a Limelight Class using a custom table name.
- *
- * If you have multiple limelights, this is most likely the constructor you want to use.
- *
- * @param tableName the table name of the limelight
- */
- private Limelight(String tableName) {
- table = new LimelightTable(tableName);
- }
-
- /****************************/
- /*** Variable Definitions ***/
- /****************************/
-
- private final LimelightTable table;
-
- /************************/
- /*** Connnection Test ***/
- /************************/
-
- /** @return name of Limelight NetworkTables */
- public String getTableName() {
- return table.tableName;
- }
-
- /** @return time of last network table change from limelight */
- public long getLastUpdate() {
- long lastChange = table.latency.getLastChange();
- lastChange = Math.max(lastChange, table.xAngle.getLastChange());
- lastChange = Math.max(lastChange, table.yAngle.getLastChange());
- return lastChange;
- }
-
- /** @return if the limelight has updated its */
- public boolean isConnected() {
- final long MAX_UPDATE_TIME = 250_000;
-
- table.timingEntry.set(!table.timingEntry.get());
- long currentTime = table.timingEntry.getLastChange();
-
- return Math.abs(currentTime - getLastUpdate()) < MAX_UPDATE_TIME;
- }
-
- /*****************************************/
- /*** Commonly Used Contour Information ***/
- /*****************************************/
-
- /** @return Whether the limelight has any valid targets */
- public boolean getValidTarget() {
- return (table.validTarget.get() > 0.5) && (isConnected());
- }
-
- /** @return Horizontal Offset From Crosshair To Target (-27 degrees to 27 degrees) */
- public double getTargetXAngle() {
- return table.xAngle.get();
- }
-
- /** @return Vertical Offset From Crosshair To Target (-20.5 degrees to 20.5 degrees) */
- public double getTargetYAngle() {
- return table.yAngle.get();
- }
-
- /** @return Percent of the screen the target takes up on a scale of 0 to 1 */
- public double getTargetArea() {
- // Lime light returns a double from 0 - 100
- // Divide by 100 to scale number from 0 - 1
- return SLMath.clamp(table.targetArea.get(0) / 100.0, 0, 1);
- }
-
- /** @return Skew or rotation (-90 degrees to 0 degrees) */
- public double getTargetSkew() {
- return table.targetSkew.get();
- }
-
- /** @return Latency of limelight information in milli-seconds */
- public double getLatencyMs() {
- // Add Image Capture Latency to get more accurate result
- return table.latency.get() + LimelightConstants.IMAGE_CAPTURE_LATENCY;
- }
-
- /********************/
- /*** Side Lengths ***/
- /********************/
-
- /** @return Shortest side length of target in pixels */
- public double getShortestSidelength() {
- return table.shortestSideLength.get();
- }
-
- /** @return Sidelength of longest side of the fitted bounding box (0 - 320 pixels) */
- public double getLongestSidelength() {
- return table.longestSideLength.get();
- }
-
- /** @return Horizontal sidelength of the rough bounding box (0 - 320 pixels) */
- public double getHorizontalSidelength() {
- return table.horizontalSideLength.get();
- }
-
- /** @return Vertical sidelength of the rough bounding box (0 - 320 pixels) */
- public double getVerticalSidelength() {
- return table.verticalSideLength.get();
- }
-
- /**********************/
- /*** Target Corners ***/
- /**********************/
-
- /** @return Number array of corner x-coordinates */
- public double[] getRawTargetCornersX() {
- return table.xCorners.get();
- }
-
- /** @return Number array of corner y-coordinates */
- public double[] getRawTargetCornersY() {
- return table.yCorners.get();
- }
-
- /** @return Vector2D array of the target corners */
- public Vector2D[] getTargetCorners() {
- double[] rawX = getRawTargetCornersX();
- double[] rawY = getRawTargetCornersX();
-
- if (rawX.length != 0 && rawY.length != 0 && rawX.length == rawY.length) {
- int length = rawX.length;
-
- Vector2D[] output = new Vector2D[length];
-
- for (int i = 0; i < length; ++i) {
- output[i] = new Vector2D(rawX[i], rawY[i]);
- }
-
- return output;
- }
-
- return new Vector2D[] {};
- }
-
- /**************************************************************/
- /*** Advanced Usage with Raw Contours (Not sent by default) ***/
- /**************************************************************/
-
- // Raw Contours are formatted as tx0, ty0, tx1, ty1, tx2, ty2
- // So to make this easier, you pass an int and it formats it
-
- /**
- * @param target Target to read X Angle from
- * @return X Angle of corresponding target
- */
- public double getRawTargetXAngle(int target) {
- return table.getGenericEntry("tx" + target).getDouble(0);
- }
-
- /**
- * @param target Target to read Y Angle from
- * @return Y Angle of corresponding target
- */
- public double getRawTargetYAngle(int target) {
- return table.getGenericEntry("ty" + target).getDouble(0);
- }
-
- /**
- * @param target Target to read Area from
- * @return Percent of the screen the corresponding target takes up on a scale of 0 to 1
- */
- public double getRawTargetArea(int target) {
- // Lime light returns a double from 0 - 100
- // Divide by 100 to scale number from 0 - 1
- return SLMath.clamp(table.getGenericEntry("ta" + target).getDouble(0) / 100.0, 0, 1);
- }
-
- /**
- * @param target Target to read Skew from
- * @return Skew of corresponding target
- */
- public double getRawTargetSkew(int target) {
- return table.getGenericEntry("ts" + target).getDouble(0);
- }
-
- /**
- * @param crosshair Crosshair to read coords from
- * @return X Coordinate of corresponding crosshair
- */
- public double getCustomRawCrosshairX(int crosshair) {
- return table.getGenericEntry("cx" + crosshair).getDouble(0);
- }
-
- /**
- * @param crosshair Crosshair to read coords from
- * @return Y Coordinate of corresponding crosshair
- */
- public double getRawCrosshairY(int crosshair) {
- return table.getGenericEntry("cy" + crosshair).getDouble(0);
- }
-
- /****************/
- /*** Solve 3D ***/
- /****************/
-
- /**
- * @param arr Array of doubles to convert to a Pose3d
- * @return Pose3d from array
- */
- private Pose3d arrayToPose3d(final double[] arr) {
- if (arr != null && arr.length == 6) {
- return new Pose3d(
- arr[0],
- arr[1],
- arr[2],
- new Rotation3d(
- Math.toRadians(arr[3]),
- Math.toRadians(arr[4]),
- Math.toRadians(arr[5])));
- }
-
- return null;
- }
-
- /** @return The Solve 3D Result */
- public Pose3d getSolve3D() {
- return arrayToPose3d(table.solve3D.get(new double[] {}));
- }
-
- /** @return The Pose3d of the robot in the field */
- public Pose3d getRobotPose() {
- return arrayToPose3d(table.botpose.get(new double[] {}));
- }
-
- /****************************/
- /*** AprilTag Information ***/
- /****************************/
-
- /** @return ID of the primary AprilTag */
- public long getTagID() {
- return table.tagID.get();
- }
-
- /***************************/
- /*** Camera Mode Control ***/
- /***************************/
-
- /** @param mode Specified LED Mode to set the limelight to */
- public void setLEDMode(LEDMode mode) {
- table.ledMode.set(mode.getCodeValue());
- }
-
- /** @param mode Specified Cam Mode to set the limelight to */
- public void setCamMode(CamMode mode) {
- table.camMode.set(mode.getCodeValue());
- }
-
- /** @param mode Specified Snapshot Mode to set the limelight to */
- public void setSnapshotMode(SnapshotMode mode) {
- table.snapshotMode.set(mode.getCodeValue());
- }
-
- /** @param stream Specified Camera Stream to set the limelight to */
- public void setCameraStream(CameraStream stream) {
- table.cameraStream.set(stream.getCodeValue());
- }
-
- /** @param pipeline Specified pipeline to set the limelight to */
- public void setPipeline(Pipeline pipeline) {
- if (!pipeline.equals(Pipeline.INVALID_PIPELINE))
- table.pipeline.set(pipeline.getCodeValue());
- }
-
- /** @return The current pipeline the limelight is set to */
- public Pipeline getPipeline() {
- double ntValue = table.getPipeline.get();
- int pipelineID = (int) (ntValue + 0.5);
- switch (pipelineID) {
- case 0:
- return Pipeline.SETTING_0;
- case 1:
- return Pipeline.SETTING_1;
- case 2:
- return Pipeline.SETTING_2;
- case 3:
- return Pipeline.SETTING_3;
- case 4:
- return Pipeline.SETTING_4;
- case 5:
- return Pipeline.SETTING_5;
- case 6:
- return Pipeline.SETTING_6;
- case 7:
- return Pipeline.SETTING_7;
- case 8:
- return Pipeline.SETTING_8;
- case 9:
- return Pipeline.SETTING_9;
- default:
- return Pipeline.INVALID_PIPELINE;
- }
- }
-
- /*************************************/
- /*** Camera Modes Enum Definitions ***/
- /*************************************/
-
- /** Modes for how the lights on the Limelight should be configured */
- public enum LEDMode {
- /* Use LED mode set in pipeline */
- PIPELINE(0),
-
- /* Force LEDs off */
- FORCE_OFF(1),
-
- /* Force LEDs to blink */
- FORCE_BLINK(2),
-
- /* Force LEDs on */
- FORCE_ON(3);
-
- private final int value;
-
- LEDMode(int value) {
- this.value = value;
- }
-
- public int getCodeValue() {
- return value;
- }
- };
-
- /** Modes for how the Camera should be configured */
- public enum CamMode {
- /* Use limelight for CV */
- VISION(0),
-
- /* Use limelight for Driving */
- DRIVER(1);
-
- private final int value;
-
- CamMode(int value) {
- this.value = value;
- }
-
- public int getCodeValue() {
- return value;
- }
- };
-
- /** Mode for how the limelight should take snapshots */
- public enum SnapshotMode {
- /* Don't take snapshots */
- STOP(0),
-
- /* Take two snapshots per second */
- TWO_PER_SECOND(1);
-
- private final int value;
-
- SnapshotMode(int value) {
- this.value = value;
- }
-
- public int getCodeValue() {
- return value;
- }
- };
-
- /** Modes for how the camera stream over the network should be delivered */
- public enum CameraStream {
- /* Shows limelight and secondary camera side by side */
- STANDARD(0),
-
- /** Shows the secondary camera along with and within the limelight camera */
- PIP_MAIN(1),
-
- /** Shows the limelight along with and within the limelight camera */
- PIP_SECONDARY(2);
-
- private final int value;
-
- CameraStream(int value) {
- this.value = value;
- }
-
- public int getCodeValue() {
- return value;
- }
- };
-
- /** The different Pipelines that the limelight camera can be set to */
- public enum Pipeline {
- INVALID_PIPELINE(-1),
- SETTING_0(0),
- SETTING_1(1),
- SETTING_2(2),
- SETTING_3(3),
- SETTING_4(4),
- SETTING_5(5),
- SETTING_6(6),
- SETTING_7(7),
- SETTING_8(8),
- SETTING_9(9);
-
- private final int value;
-
- Pipeline(int value) {
- this.value = value;
- }
-
- public int getCodeValue() {
- return value;
- }
- };
-
- /**************************/
- /*** Custom Grip Values ***/
- /**************************/
-
- /**
- * @param element Name of double provided by GRIP Pipeline
- * @return Double provided by GRIP Pipeline
- */
- public double getCustomDouble(String element) {
- return table.getGenericEntry(element).getDouble(0);
- }
-
- /**
- * @param element Name of Number to set on Network Table
- * @param value Value to set the Number on the Network Table to
- * @return Whether or not the write was successful
- */
- public boolean setCustomNumber(String element, Number value) {
- return table.getGenericEntry(element).setDouble((double) value);
- }
-
- /**
- * @param element Name of String provided by GRIP Pipeline
- * @return String provided by GRIP Pipeline
- */
- public String getCustomString(String element) {
- return table.getGenericEntry(element).getString("");
- }
-
- /**
- * @param element Name of String to set on Network Table
- * @param value Value to set the Sting on the Network Table to
- * @return Whether or not the write was successful
- */
- public boolean setCustomString(String element, String value) {
- return table.getGenericEntry(element).setString(value);
- }
-}
diff --git a/src/com/stuypulse/stuylib/network/limelight/LimelightConstants.java b/src/com/stuypulse/stuylib/network/limelight/LimelightConstants.java
deleted file mode 100644
index e68484e6..00000000
--- a/src/com/stuypulse/stuylib/network/limelight/LimelightConstants.java
+++ /dev/null
@@ -1,38 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.network.limelight;
-
-/**
- * This class defines all of the constants defined in the Limelight Documentation. Usage of these
- * numbers is rare, but this is good to have.
- *
- * @author Sam B (sam.belliveau@gmail.com)
- */
-public final class LimelightConstants {
-
- /** Prevent class from being extended. */
- private LimelightConstants() {}
-
- /*************************/
- /*** Camera Mode Enums ***/
- /*************************/
-
- public static final double IMAGE_CAPTURE_LATENCY = 11;
-
- public static final double MIN_X_ANGLE = -27;
- public static final double MAX_X_ANGLE = 27;
-
- public static final double MIN_Y_ANGLE = -20.5;
- public static final double MAX_Y_ANGLE = 20.5;
-
- public static final double MIN_TARGET_AREA = 0;
- public static final double MAX_TARGET_AREA = 1;
-
- public static final double MIN_SKEW = -90;
- public static final double MAX_SKEW = 0;
-
- public static final double MIN_SIDE_LENGTH = 0;
- public static final double MAX_SIDE_LENGTH = 320;
-}
diff --git a/src/com/stuypulse/stuylib/network/limelight/LimelightTable.java b/src/com/stuypulse/stuylib/network/limelight/LimelightTable.java
deleted file mode 100644
index d20de1f7..00000000
--- a/src/com/stuypulse/stuylib/network/limelight/LimelightTable.java
+++ /dev/null
@@ -1,147 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.network.limelight;
-
-import edu.wpi.first.networktables.BooleanEntry;
-import edu.wpi.first.networktables.DoubleArrayEntry;
-import edu.wpi.first.networktables.DoubleEntry;
-import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.networktables.IntegerEntry;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableInstance;
-
-/**
- * This class provides an extremely low level implementation construction of the limelight network
- * table. It defines all of the NetworkTabe entries, and nothing else. This is not made for use in
- * robot code, but instead to assist other API's that use the limelight.
- *
- * @author Sam B (sam.belliveau@gmail.com)
- * @author Vincent Wang (vincentw921)
- */
-public final class LimelightTable {
-
- /** Create a LimelightTable with the default table name */
- public LimelightTable() {
- this("limelight");
- }
-
- /**
- * Create a LimelightTable with a custom NetworkTable name. This may be used if we need multiple
- * limelights.
- *
- * @param tableName the custom name of the limelight's network table
- */
- public LimelightTable(String tableName) {
- tableInstance = NetworkTableInstance.getDefault();
- table = tableInstance.getTable(tableName);
-
- this.tableName = tableName;
-
- validTarget = table.getIntegerTopic("tv").getEntry(0);
-
- xAngle = table.getDoubleTopic("tx").getEntry(0);
- yAngle = table.getDoubleTopic("ty").getEntry(0);
-
- targetArea = table.getDoubleTopic("ta").getEntry(0);
- targetSkew = table.getDoubleTopic("ts").getEntry(0);
-
- latency = table.getIntegerTopic("tl").getEntry(0);
-
- shortestSideLength = table.getDoubleTopic("tshort").getEntry(0);
- longestSideLength = table.getDoubleTopic("tlong").getEntry(0);
- horizontalSideLength = table.getDoubleTopic("thor").getEntry(0);
- verticalSideLength = table.getDoubleTopic("tvert").getEntry(0);
-
- xCorners = table.getDoubleArrayTopic("tcornx").getEntry(new double[] {});
- yCorners = table.getDoubleArrayTopic("tcorny").getEntry(new double[] {});
-
- solve3D = table.getDoubleArrayTopic("campose").getEntry(new double[] {});
- botpose = table.getDoubleArrayTopic("botpose").getEntry(new double[] {});
-
- tagID = table.getIntegerTopic("tid").getEntry(-1);
-
- ledMode = table.getIntegerTopic("ledMode").getEntry(0);
- camMode = table.getIntegerTopic("camMode").getEntry(0);
- pipeline = table.getIntegerTopic("pipeline").getEntry(0);
- getPipeline = table.getIntegerTopic("getpipe").getEntry(0);
- cameraStream = table.getIntegerTopic("stream").getEntry(0);
- snapshotMode = table.getIntegerTopic("snapshot").getEntry(0);
-
- timingEntry = table.getBooleanTopic(".timing_data").getEntry(false);
- }
-
- /****************************************************/
- /*** Network Table Info used to contact Limelight ***/
- /****************************************************/
-
- public final NetworkTableInstance tableInstance;
-
- public final NetworkTable table;
-
- public final String tableName;
-
- /****************************************************************/
- /*** Network Table Entries used to communicate with Limelight ***/
- /****************************************************************/
-
- // Whether the limelight has any valid targets (0 or 1)
- public final IntegerEntry validTarget;
-
- // Horizontal Offset From Crosshair To Target (-27 degrees to 27 degrees)
- public final DoubleEntry xAngle;
-
- // Vertical Offset From Crosshair To Target (-20.5 degrees to 20.5 degrees)
- public final DoubleEntry yAngle;
-
- // Target Area (0% of image to 100% of image)
- public final DoubleEntry targetArea;
-
- // Skew or rotation (-90 degrees to 0 degrees)
- public final DoubleEntry targetSkew;
-
- // The pipeline’s latency contribution (ms) Add at
- // least 11ms for image capture latency.
- public final IntegerEntry latency;
-
- // Pixel information returned from these functions
- public final DoubleEntry shortestSideLength;
- public final DoubleEntry longestSideLength;
- public final DoubleEntry horizontalSideLength;
- public final DoubleEntry verticalSideLength;
-
- // Corner DoubleArrayEntry
- public final DoubleArrayEntry xCorners;
- public final DoubleArrayEntry yCorners;
-
- // Solve 3D DoubleArrayEntrys
- public final DoubleArrayEntry solve3D;
- public final DoubleArrayEntry botpose;
-
- // AprilTag Information
- public final IntegerEntry tagID;
-
- // Camera Control DoubleEntrys
- public final IntegerEntry ledMode;
- public final IntegerEntry camMode;
- public final IntegerEntry pipeline;
- public final IntegerEntry getPipeline;
- public final IntegerEntry cameraStream;
- public final IntegerEntry snapshotMode;
-
- // Custom Timing DoubleEntrys
- public final BooleanEntry timingEntry;
-
- /************************************************/
- /*** Functions to get Entries not listed here ***/
- /************************************************/
-
- /**
- * @param key ID of value on the network table
- * @return The {@link GenericEntry} of the network table value on the Limelight Table
- */
- public GenericEntry getGenericEntry(String key) {
- return table.getTopic(key).getGenericEntry();
- }
-}
diff --git a/src/com/stuypulse/stuylib/network/limelight/Solve3DResult.java b/src/com/stuypulse/stuylib/network/limelight/Solve3DResult.java
deleted file mode 100644
index ddc40a81..00000000
--- a/src/com/stuypulse/stuylib/network/limelight/Solve3DResult.java
+++ /dev/null
@@ -1,108 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.network.limelight;
-
-import com.stuypulse.stuylib.math.Angle;
-
-/**
- * Class that is used to return solve 3D results from the limelight
- *
- * @author Sam (sam.belliveau@gmail.com)
- */
-public class Solve3DResult {
-
- // Position Data
- private double mX;
- private double mY;
- private double mZ;
-
- // Rotation Data
- private Angle mPitch;
- private Angle mYaw;
- private Angle mRoll;
-
- /**
- * Initialize each part of the Solve3DResult
- *
- * @param x x position
- * @param y y position
- * @param z z position
- * @param pitch pitch
- * @param yaw yaw
- * @param roll roll
- */
- public Solve3DResult(double x, double y, double z, double pitch, double yaw, double roll) {
- mX = x;
- mY = y;
- mZ = z;
-
- mPitch = Angle.fromDegrees(pitch);
- mYaw = Angle.fromDegrees(yaw);
- mRoll = Angle.fromDegrees(roll);
- }
-
- /**
- * Parse data from array into class
- *
- * @param data array that the limelight returns
- */
- public Solve3DResult(double[] data) {
- this(data[0], data[1], data[2], data[3], data[4], data[5]);
- }
-
- /**
- * Get x from Solve3D Result
- *
- * @return x position
- */
- public double getX() {
- return mX;
- }
-
- /**
- * Get y from Solve3D Result
- *
- * @return y position
- */
- public double getY() {
- return mY;
- }
-
- /**
- * Get z from Solve3D Result
- *
- * @return z position
- */
- public double getZ() {
- return mZ;
- }
-
- /**
- * Get pitch from Solve3D Result
- *
- * @return pitch
- */
- public Angle getPitch() {
- return mPitch;
- }
-
- /**
- * Get yaw from Solve3D Result
- *
- * @return yaw
- */
- public Angle getYaw() {
- return mYaw;
- }
-
- /**
- * Get roll from Solve3D Result
- *
- * @return roll
- */
- public Angle getRoll() {
- return mRoll;
- }
-}
diff --git a/src/com/stuypulse/stuylib/network/limelight/readme.md b/src/com/stuypulse/stuylib/network/limelight/readme.md
deleted file mode 100644
index 927217fd..00000000
--- a/src/com/stuypulse/stuylib/network/limelight/readme.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# StuyLib Limelight Library
-
-WIP...
\ No newline at end of file
diff --git a/src/com/stuypulse/stuylib/streams/angles/AFuser.java b/src/com/stuypulse/stuylib/streams/angles/AFuser.java
deleted file mode 100644
index 0a4dbd9a..00000000
--- a/src/com/stuypulse/stuylib/streams/angles/AFuser.java
+++ /dev/null
@@ -1,70 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.streams.angles;
-
-import com.stuypulse.stuylib.math.Angle;
-import com.stuypulse.stuylib.streams.angles.filters.AFilter;
-import com.stuypulse.stuylib.streams.angles.filters.AHighPassFilter;
-import com.stuypulse.stuylib.streams.angles.filters.ALowPassFilter;
-
-/**
- * A class that combines two AStreams, usually in order to combine some slow data source with a
- * faster one. The Base Measurement should generally drift less while the Fast Measurement should
- * have less delay. The Fast measurement will go through a high pass filter so it is less important
- * if that one drifts compared to the Base Measurement.
- *
- * Example Usage: BaseMeasurement = Limelight, FastMeasurement = Encoders
- *
- * @author Myles Pasetsky
- */
-public class AFuser implements AStream {
-
- private final Number mFilterRC;
-
- private final AStream mBase;
- private final AStream mFast;
-
- private AFilter mBaseFilter;
- private AFilter mFastFilter;
-
- private Angle mFastOffset;
-
- /**
- * Create an AFuser with an RC, Base/Fast Measurement stream
- *
- * @param rc RC value for the lowpass / highpass filters
- * @param baseMeasurement a stream that returns the slow, but accurate measurement values
- * @param fastMeasurement a stream that returns faster, less accurate measurement values
- */
- public AFuser(Number rc, AStream baseMeasurement, AStream fastMeasurement) {
- mBase = baseMeasurement;
- mFast = fastMeasurement;
-
- mFilterRC = rc;
-
- reset();
- }
-
- /** Resets the AFuser so that it can ignore any previous data / reset its initial read */
- public void reset() {
- mBaseFilter = new ALowPassFilter(mFilterRC);
- mFastFilter = new AHighPassFilter(mFilterRC);
-
- mFastOffset = mBase.get().sub(mFast.get());
- }
-
- private Angle getBase() {
- return mBaseFilter.get(mBase.get());
- }
-
- private Angle getFast() {
- return mFastFilter.get(mFast.get().add(mFastOffset));
- }
-
- /** Get the result of merging the two datastreams together */
- public Angle get() {
- return getBase().add(getFast());
- }
-}
diff --git a/src/com/stuypulse/stuylib/streams/numbers/filters/Integral.java b/src/com/stuypulse/stuylib/streams/numbers/filters/Integral.java
deleted file mode 100644
index 71c457c7..00000000
--- a/src/com/stuypulse/stuylib/streams/numbers/filters/Integral.java
+++ /dev/null
@@ -1,27 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.streams.numbers.filters;
-
-import com.stuypulse.stuylib.util.StopWatch;
-
-/**
- * This class takes an IStream and gives you the integral with respect to time.
- *
- * @author Sam (sam.belliveau@gmail.com)
- */
-public class Integral implements IFilter {
-
- private final StopWatch mTimer;
- private double mTotal;
-
- public Integral() {
- mTimer = new StopWatch();
- mTotal = 0.0;
- }
-
- public double get(double next) {
- return mTotal += next * mTimer.reset();
- }
-}
diff --git a/src/com/stuypulse/stuylib/streams/numbers/filters/LowPassFilter.java b/src/com/stuypulse/stuylib/streams/numbers/filters/LowPassFilter.java
index b3c0809d..9434de4b 100644
--- a/src/com/stuypulse/stuylib/streams/numbers/filters/LowPassFilter.java
+++ b/src/com/stuypulse/stuylib/streams/numbers/filters/LowPassFilter.java
@@ -4,7 +4,6 @@
package com.stuypulse.stuylib.streams.numbers.filters;
-import com.stuypulse.stuylib.math.SLMath;
import com.stuypulse.stuylib.util.StopWatch;
/**
@@ -38,10 +37,10 @@ public double get(double next) {
}
// Get a constant, which is determined based on dt and the mRC constant
- double a = Math.exp(-mTimer.reset() / mRC.doubleValue());
+ double a = 1.0 - Math.exp(-mTimer.reset() / mRC.doubleValue());
// Based on the value of a (which is determined by dt), the next value
// could either change a lot, or not by much. (smaller dt = smaller change)
- return mLastValue = SLMath.lerp(next, mLastValue, a);
+ return mLastValue += a * (next - mLastValue);
}
}
diff --git a/src/com/stuypulse/stuylib/streams/numbers/filters/MedianFilter.java b/src/com/stuypulse/stuylib/streams/numbers/filters/MedianFilter.java
deleted file mode 100644
index cc0eb93c..00000000
--- a/src/com/stuypulse/stuylib/streams/numbers/filters/MedianFilter.java
+++ /dev/null
@@ -1,88 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.streams.numbers.filters;
-
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.LinkedList;
-import java.util.List;
-import java.util.Queue;
-
-/**
- * A median filter implementation using an ordered window and a value queue.
- *
- * @author Myles Pasetsky (selym3)
- */
-public class MedianFilter implements IFilter {
-
- /** The size of the input window to get the median of. */
- private final int mSize;
-
- /** This queue stores values in the order they are inputted. */
- private Queue This is not time dependant, so the values will change if you change the rate that you call
- * this filter, the filter will not adapt for that.
- *
- * This implementation is O(1) unlike many other implementations of this algorithm.
- *
- * @author Sam (sam.belliveau@gmail.com)
- */
-public class MovingAverage implements IFilter {
-
- private int mSize;
- private double mTotal;
- private Queue This implementation is very fast, however, it is also very hard to explain. It does however
- * correctly calculate a weighted moving average.
- *
- * This implementation is O(1) unlike many other implementations of this algorithm.
- *
- * @author Sam (sam.belliveau@gmail.com)
- */
-public class WeightedMovingAverage implements IFilter {
-
- private int mSize;
- private double mTotal;
- private double mLastAverage;
- private MovingAverage mAverage;
-
- /** @param size size of weighted moving average */
- public WeightedMovingAverage(int size) {
- if (size <= 0) {
- throw new IllegalArgumentException("size must be greater than 0!");
- }
-
- mSize = size;
- mAverage = new MovingAverage(size);
- mLastAverage = 0.0;
- mTotal = 0.0;
- }
-
- public double get(double next) {
- mTotal -= mLastAverage;
- mLastAverage = mAverage.get(next);
- return (mTotal += next) / ((mSize + 1) * 0.5);
- }
-}
diff --git a/src/com/stuypulse/stuylib/streams/readme.md b/src/com/stuypulse/stuylib/streams/readme.md
index caab1eec..318e5ce8 100644
--- a/src/com/stuypulse/stuylib/streams/readme.md
+++ b/src/com/stuypulse/stuylib/streams/readme.md
@@ -1,4 +1,4 @@
-# StuyLib Streams Library
+# StuyLib Streams Library
## What is a Stream
@@ -23,7 +23,7 @@ An [IStream](https://github.com/StuyPulse/StuyLib/blob/main/src/com/stuypulse/st
### [Filtered IStream](https://github.com/StuyPulse/StuyLib/blob/main/src/com/stuypulse/stuylib/streams/FilteredIStream.java)
-A [Filtered ISteam](https://github.com/StuyPulse/StuyLib/blob/main/src/com/stuypulse/stuylib/streams/FilteredIStream.java) applies a [Filter](https://github.com/StuyPulse/StuyLib/tree/main/src/com/stuypulse/stuylib/streams/filters) to a stream, and returns that value instead.
+A [Filtered ISteam](https://github.com/StuyPulse/StuyLib/blob/main/src/com/stuypulse/stuylib/streams/FilteredIStream.java) applies a [Filter](https://github.com/StuyPulse/StuyLib/tree/main/src/com/stuypulse/stuylib/streams/filters) to a stream, and returns that value instead.
Continuing from the example above, we could do:
@@ -37,7 +37,7 @@ System.out.println(filtered_speed.get()); // Prints the filtered value of the st
CSVIStream has two child classes in it, `CSVIStream.Writer` and `CSVIStream.Reader`.
-`CSVIStream.Writer` is used to save the values of a stream as you read it, and can be used as so.
+`CSVIStream.Writer` is used to save the values of a stream as you read it, and can be used as so.
```java
IStream recorded_speed = new CSVIStream.Writer("./speeds.csv", speed);
diff --git a/src/com/stuypulse/stuylib/streams/vectors/VFuser.java b/src/com/stuypulse/stuylib/streams/vectors/VFuser.java
deleted file mode 100644
index ae4a8196..00000000
--- a/src/com/stuypulse/stuylib/streams/vectors/VFuser.java
+++ /dev/null
@@ -1,70 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.streams.vectors;
-
-import com.stuypulse.stuylib.math.Vector2D;
-import com.stuypulse.stuylib.streams.vectors.filters.VFilter;
-import com.stuypulse.stuylib.streams.vectors.filters.VHighPassFilter;
-import com.stuypulse.stuylib.streams.vectors.filters.VLowPassFilter;
-
-/**
- * A class that combines two VStreams, usually in order to combine some slow data source with a
- * faster one. The Base Measurement should generally drift less while the Fast Measurement should
- * have less delay. The Fast measurement will go through a high pass filter so it is less important
- * if that one drifts compared to the Base Measurement.
- *
- * Example Usage: BaseMeasurement = Limelight, FastMeasurement = Encoders
- *
- * @author Myles Pasetsky
- */
-public class VFuser implements VStream {
-
- private final Number mFilterRC;
-
- private final VStream mBase;
- private final VStream mFast;
-
- private VFilter mBaseFilter;
- private VFilter mFastFilter;
-
- private Vector2D mFastOffset;
-
- /**
- * Create an VFuser with an RC, Base/Fast Measurement stream
- *
- * @param rc RC value for the lowpass / highpass filters
- * @param baseMeasurement a stream that returns the slow, but accurate measurement values
- * @param fastMeasurement a stream that returns faster, less accurate measurement values
- */
- public VFuser(Number rc, VStream baseMeasurement, VStream fastMeasurement) {
- mBase = baseMeasurement;
- mFast = fastMeasurement;
-
- mFilterRC = rc;
-
- reset();
- }
-
- /** Resets the VFuser so that it can ignore any previous data / reset its initial read */
- public void reset() {
- mBaseFilter = new VLowPassFilter(mFilterRC);
- mFastFilter = new VHighPassFilter(mFilterRC);
-
- mFastOffset = mBase.get().sub(mFast.get());
- }
-
- private Vector2D getBase() {
- return mBaseFilter.get(mBase.get());
- }
-
- private Vector2D getFast() {
- return mFastFilter.get(mFast.get().add(mFastOffset));
- }
-
- /** Get the result of merging the two datastreams together */
- public Vector2D get() {
- return getBase().add(getFast());
- }
-}
diff --git a/src/com/stuypulse/stuylib/streams/vectors/filters/VIntegral.java b/src/com/stuypulse/stuylib/streams/vectors/filters/VIntegral.java
deleted file mode 100644
index 6cad277c..00000000
--- a/src/com/stuypulse/stuylib/streams/vectors/filters/VIntegral.java
+++ /dev/null
@@ -1,19 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.streams.vectors.filters;
-
-import com.stuypulse.stuylib.streams.numbers.filters.Integral;
-
-/**
- * A filter that integrates a VStream with respect to time.
- *
- * @author Sam (sam.belliveau@gmail.com)
- */
-public class VIntegral extends XYFilter {
-
- public VIntegral() {
- super(new Integral(), new Integral());
- }
-}
diff --git a/src/com/stuypulse/stuylib/streams/vectors/filters/VMovingAverage.java b/src/com/stuypulse/stuylib/streams/vectors/filters/VMovingAverage.java
deleted file mode 100644
index bcf99155..00000000
--- a/src/com/stuypulse/stuylib/streams/vectors/filters/VMovingAverage.java
+++ /dev/null
@@ -1,19 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.streams.vectors.filters;
-
-import com.stuypulse.stuylib.streams.numbers.filters.MovingAverage;
-
-/**
- * A filter that takes a moving average of a VStream
- *
- * @author Sam (sam.belliveau@gmail.com)
- */
-public class VMovingAverage extends XYFilter {
-
- public VMovingAverage(int size) {
- super(new MovingAverage(size), new MovingAverage(size));
- }
-}
diff --git a/src/com/stuypulse/stuylib/streams/vectors/filters/VWeightedMovingAverage.java b/src/com/stuypulse/stuylib/streams/vectors/filters/VWeightedMovingAverage.java
deleted file mode 100644
index b0c362e0..00000000
--- a/src/com/stuypulse/stuylib/streams/vectors/filters/VWeightedMovingAverage.java
+++ /dev/null
@@ -1,19 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.streams.vectors.filters;
-
-import com.stuypulse.stuylib.streams.numbers.filters.WeightedMovingAverage;
-
-/**
- * A filter that takes a weighted moving average of a VStream
- *
- * @author Sam (sam.belliveau@gmail.com)
- */
-public class VWeightedMovingAverage extends XYFilter {
-
- public VWeightedMovingAverage(int size) {
- super(new WeightedMovingAverage(size), new WeightedMovingAverage(size));
- }
-}
diff --git a/src/com/stuypulse/stuylib/util/HashBuilder.java b/src/com/stuypulse/stuylib/util/HashBuilder.java
deleted file mode 100644
index fd91d8b6..00000000
--- a/src/com/stuypulse/stuylib/util/HashBuilder.java
+++ /dev/null
@@ -1,284 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.util;
-
-/**
- * A class used to generate HashCodes by combining multiple different objects / types. The combining
- * function is taken from boost, as it is a great hash combiner
- *
- * It also has static methods available if creating a new class is undesirable.
- *
- * @author Sam B. (sam.belliveau@gmail.com)
- */
-public final class HashBuilder {
-
- /*******************************************/
- /*** Static HashBuilder Helper Functions ***/
- /*******************************************/
-
- /** Default Value the internal hashpool will have if no value is given */
- public static final int DEFAULT_INITIALER = 0x9e3779b9;
-
- /** Prime Numbers used in combination process */
- private static final int PRIME_C1 = 0xcc9e2d51;
-
- private static final int PRIME_C2 = 0x1b873593;
-
- /**
- * Implementation of Hash Combine from the Boost Library
- *
- * @see Boost
- * Implementation
- * @param a the first of the two values to combine into a hash
- * @param b the second of the two values to combine into a hash
- * @return the result of the hash combining function
- */
- public static int combineHash(int a, int b) {
- b *= PRIME_C1;
- b = Integer.rotateLeft(b, 15);
- b *= PRIME_C2;
-
- a ^= b;
- a = Integer.rotateLeft(a, 13);
- a = a * 5 + 0xe6546b64;
-
- return a;
- }
-
- /**
- * Implementation of Hash Combine from the Boost Library
- *
- * This will not return the same value as {@link #combineHash(Object, int)} if you swap the
- * object and integers. This function is dependent on the order
- *
- * @see #combineHash(int,int)
- * @param a the first of the two values to combine into a hash
- * @param b the second of the two values to combine into a hash
- * @return the result of the hash combining function
- */
- public static int combineHash(int a, Object b) {
- return combineHash(a, b.hashCode());
- }
-
- /**
- * Implementation of Hash Combine from the Boost Library
- *
- * This will not return the same value as {@link #combineHash(int, Object)} if you swap the
- * object and integers. This function is dependent on the order
- *
- * @see #combineHash(int,int)
- * @param a the first of the two values to combine into a hash
- * @param b the second of the two values to combine into a hash
- * @return the result of the hash combining function
- */
- public static int combineHash(Object a, int b) {
- return combineHash(a.hashCode(), b);
- }
-
- /**
- * Implementation of Hash Combine from the Boost Library
- *
- * @see #combineHash(int,int)
- * @param a the first of the two values to combine into a hash
- * @param b the second of the two values to combine into a hash
- * @return the result of the hash combining function
- */
- public static int combineHash(Object a, Object b) {
- return combineHash(a.hashCode(), b.hashCode());
- }
-
- /****************************/
- /*** Class Implementation ***/
- /****************************/
-
- // Internal Pool to store hash
- private int mHashPool;
-
- /**
- * Create a HashBuilder with a custom initial state, usually unnecessary
- *
- * @param initial initial starting value for the HashBuilder
- */
- public HashBuilder(int initial) {
- this.mHashPool = initial;
- }
-
- /** Create a HashBuilder with the default initialized state */
- public HashBuilder() {
- this(DEFAULT_INITIALER);
- }
-
- /*** Getting the HashCode Back ***/
-
- /** @return the digested hashCode of everything that was added */
- @Override
- public int hashCode() {
- return mHashPool;
- }
-
- /** @return the digested hashCode of everything that was added */
- public int toHashCode() {
- return this.hashCode();
- }
-
- /*** Appending single variables ***/
-
- /**
- * @param value integer to append to hashCode
- * @return this
- */
- public HashBuilder append(int value) {
- mHashPool = combineHash(mHashPool, value);
- return this;
- }
-
- /**
- * @param value boolean to append to hashCode
- * @return this
- */
- public HashBuilder append(boolean value) {
- return append(Boolean.hashCode(value));
- }
-
- /**
- * @param value byte to append to hashCode
- * @return this
- */
- public HashBuilder append(byte value) {
- return append(Byte.hashCode(value));
- }
-
- /**
- * @param value char to append to hashCode
- * @return this
- */
- public HashBuilder append(char value) {
- return append(Character.hashCode(value));
- }
-
- /**
- * @param value short to append to hashCode
- * @return this
- */
- public HashBuilder append(short value) {
- return append(Short.hashCode(value));
- }
-
- /**
- * @param value long to append to hashCode
- * @return this
- */
- public HashBuilder append(long value) {
- return append(Long.hashCode(value));
- }
-
- /**
- * @param value float to append to hashCode
- * @return this
- */
- public HashBuilder append(float value) {
- return append(Float.hashCode(value));
- }
-
- /**
- * @param value double to append to hashCode
- * @return this
- */
- public HashBuilder append(double value) {
- return append(Double.hashCode(value));
- }
-
- /**
- * @param value object to append to hashCode
- * @return this
- */
- public HashBuilder append(Object value) {
- return append(value.hashCode());
- }
-
- /*** Appending multiple variables ***/
-
- /**
- * @param values integers to append to hashCode
- * @return this
- */
- public HashBuilder append(int... values) {
- for (int v : values) append(v);
- return this;
- }
-
- /**
- * @param values booleans to append to hashCode
- * @return this
- */
- public HashBuilder append(boolean... values) {
- for (boolean v : values) append(v);
- return this;
- }
-
- /**
- * @param values bytes to append to hashCode
- * @return this
- */
- public HashBuilder append(byte... values) {
- for (byte v : values) append(v);
- return this;
- }
-
- /**
- * @param values chars to append to hashCode
- * @return this
- */
- public HashBuilder append(char... values) {
- for (char v : values) append(v);
- return this;
- }
-
- /**
- * @param values shorts to append to hashCode
- * @return this
- */
- public HashBuilder append(short... values) {
- for (short v : values) append(v);
- return this;
- }
-
- /**
- * @param values longs to append to hashCode
- * @return this
- */
- public HashBuilder append(long... values) {
- for (long v : values) append(v);
- return this;
- }
-
- /**
- * @param values floats to append to hashCode
- * @return this
- */
- public HashBuilder append(float... values) {
- for (float v : values) append(v);
- return this;
- }
-
- /**
- * @param values doubles to append to hashCode
- * @return this
- */
- public HashBuilder append(double... values) {
- for (double v : values) append(v);
- return this;
- }
-
- /**
- * @param values objects to append to hashCode
- * @return this
- */
- public HashBuilder append(Object... values) {
- for (Object v : values) append(v);
- return this;
- }
-}
diff --git a/src/com/stuypulse/stuylib/util/plot/AngleSeries.java b/src/com/stuypulse/stuylib/util/plot/AngleSeries.java
deleted file mode 100644
index 999ed103..00000000
--- a/src/com/stuypulse/stuylib/util/plot/AngleSeries.java
+++ /dev/null
@@ -1,81 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.util.plot;
-
-import com.stuypulse.stuylib.math.Vector2D;
-import com.stuypulse.stuylib.streams.angles.AStream;
-
-import java.util.LinkedList;
-import java.util.List;
-
-/**
- * An AngleSeries is used to plot a stream of points (AStream) that changes over time.
- *
- * @author Benjamin Goldfisher (ben@goldfisher.com)
- */
-public class AngleSeries extends Series {
-
- /** Contains the (x, y) data points */
- private List A FuncSeries data is precomputed, so its x and y values are non-changing. This means that the
- * series does not get polled and does not implement pop() or poll().
- *
- * @author Ben Goldfisher
- */
-public class FuncSeries extends Series {
-
- /** Domain describes the x-values that the series will be graphed over */
- public static class Domain {
-
- /** min and max x-values that will be graphed */
- public final double min, max;
-
- /**
- * Creates a Domain
- *
- * @param min smallest x-value that will be graphed
- * @param max largest x-value that will be graphed
- */
- public Domain(double min, double max) {
- this.min = min;
- this.max = max;
- }
- }
-
- /** Contains the precomputed (x, y) data values */
- private List It stores the Series that it is going draw. It also has methods that read the mouse's
- * position, which can be used as an input stream for a series.
- *
- * @author Myles Pasetsky (myles.pasetsky@gmail.com)
- */
-public class Plot {
-
- /** A collection of Series to be graphed */
- private List Using these operations, a series can update its data points and add itself to an XYChart.
- *
- * A series must be created with a config, which has the label of the series (which appears in
- * the legend) and its maximum number of entries.
- *
- * A series must also specifiy whether or not it is polling. If a series is "polling", it means
- * that its values will change when the poll operation is performed. This is useful as the plot
- * doesn't have to redraw if its series aren't polling because they will never change.
- *
- * @author Myles Pasetsky (myles.pasetsky@gmail.com)
- */
-public abstract class Series {
-
- /** Config describes the baseline settings for a series that need to be configured. */
- public static class Config {
-
- /** label of a series that appears on the legend */
- private String label;
-
- /** max number of entries before old ones get removed */
- private int capacity;
-
- /**
- * Creates a config
- *
- * @param label series label, which appears on legend
- * @param capacity capacity, which sets max number of entries for a series
- */
- public Config(String label, int capacity) {
- this.label = label;
- this.capacity = capacity;
- }
-
- /** @return label */
- public String getLabel() {
- return label;
- }
-
- /** @return capacity */
- public int getCapacity() {
- return capacity;
- }
- }
-
- /** the config for this series */
- private final Config config;
-
- /** whether or not this series polls */
- private final boolean polling;
-
- /**
- * Creates a series given a config and if it's polling
- *
- * @param config series config
- * @param polling whether or not this series polls
- */
- public Series(Config config, boolean polling) {
- this.config = config;
- this.polling = polling;
- }
-
- /** @return series config */
- public Config getConfig() {
- return config;
- }
-
- /** @return the number of data points the series has */
- public abstract int size();
-
- /** @return a "safe" copy of the x-data that can be read by XYChart's threads */
- protected abstract List Depending on the implementation of a series, this may be a no-op
- */
- private final void update() {
- final int capacity = getConfig().getCapacity();
- poll();
- while (size() > capacity) {
- pop();
- }
- }
-
- /**
- * Puts the 'safe' data into the chart instance under the label specified in the config.
- *
- * @param chart chart to put x, y data into
- */
- protected final void update(XYChart chart) {
- update();
-
- String label = getConfig().getLabel();
- var x = getSafeXValues();
- var y = getSafeYValues();
-
- if (chart.getSeriesMap().containsKey(label)) {
- chart.updateXYSeries(label, x, y, null);
- } else {
- chart.addSeries(label, x, y);
- chart.getSeriesMap()
- .get(label)
- .setXYSeriesRenderStyle(XYSeriesRenderStyle.Line)
- .setMarker(SeriesMarkers.NONE)
- .setLineStyle(new BasicStroke(2.5f));
- }
- }
-}
diff --git a/src/com/stuypulse/stuylib/util/plot/Settings.java b/src/com/stuypulse/stuylib/util/plot/Settings.java
deleted file mode 100644
index 29587bf6..00000000
--- a/src/com/stuypulse/stuylib/util/plot/Settings.java
+++ /dev/null
@@ -1,280 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.util.plot;
-
-/**
- * Settings for a plot.
- *
- * Supports changing labels, axis bounds, and window size.
- *
- * @author Myles Pasetsky (myles.pasetsky@gmail.com)
- */
-public final class Settings {
-
- /** Convenience struct to represent axis labels */
- public static class Axes {
-
- /** all the labels stored */
- private String title, x, y;
-
- /**
- * Create an axes object
- *
- * @param title title
- * @param x x-axis label
- * @param y y-axis label
- */
- public Axes(String title, String x, String y) {
- this.title = title;
- this.x = x;
- this.y = y;
- }
- }
-
- /** labels of the plot */
- private String title;
-
- private String xAxis;
- private String yAxis;
-
- /** window size */
- private int width;
-
- private int height;
-
- /** x-axis bounds */
- private double xMin;
-
- private double xMax;
-
- /** y-axis bounds */
- private double yMin;
-
- private double yMax;
-
- /** Create a settings object with default values */
- public Settings() {
- title = "Plot";
- xAxis = "x";
- yAxis = "y";
-
- width = 640;
- height = 480;
-
- xMin = 0.0;
- xMax = 1.0;
-
- yMin = 0.0;
- yMax = 1.0;
- }
-
- /** @return title */
- public String getTitle() {
- return title;
- }
-
- /** @return x-axis label */
- public String getXAxis() {
- return xAxis;
- }
-
- /** @return y-axis label */
- public String getYAxis() {
- return yAxis;
- }
-
- /** @return width of window */
- public int getWidth() {
- return width;
- }
-
- /** @return height of window */
- public int getHeight() {
- return height;
- }
-
- /** @return lower bound of x-axis */
- public double getXMin() {
- return xMin;
- }
-
- /** @return upper bound of x-axis */
- public double getXMax() {
- return xMax;
- }
-
- /** @return lower bound of y-axis */
- public double getYMin() {
- return yMin;
- }
-
- /** @return upper bound of y-axis */
- public double getYMax() {
- return yMax;
- }
-
- /**
- * Sets title of plot
- *
- * @param title title
- * @return reference to self for chaining methods
- */
- public Settings setTitle(String title) {
- this.title = title;
- return this;
- }
-
- /**
- * Sets x-axis label
- *
- * @param xAxis x-axis label
- * @return reference to self for chaining methods
- */
- public Settings setXAxis(String xAxis) {
- this.xAxis = xAxis;
- return this;
- }
-
- /**
- * Set y-axis label
- *
- * @param yAxis y-axis label
- * @return reference to self for chaining methods
- */
- public Settings setYAxis(String yAxis) {
- this.yAxis = yAxis;
- return this;
- }
-
- /**
- * Set all axis labels at once
- *
- * @param title title
- * @param xAxis x-axis label
- * @param yAxis y-axis label
- * @return reference to self for chaining methods
- */
- public Settings setAxes(String title, String xAxis, String yAxis) {
- setTitle(title);
- setXAxis(xAxis);
- setYAxis(yAxis);
- return this;
- }
-
- /**
- * Sets all the axis labels at once
- *
- * @param axes object containing axis labels
- * @return reference to self for chaining methods
- */
- public Settings setAxes(Axes axes) {
- return setAxes(axes.title, axes.x, axes.y);
- }
-
- /**
- * Sets lower bound for x-axis
- *
- * @param xMin lower bound for x-axis
- * @return reference to self for chaining methods
- */
- public Settings setXMin(double xMin) {
- this.xMin = xMin;
- return this;
- }
-
- /**
- * Sets upper bound for x-axis
- *
- * @param xMax upper bound for x-axis
- * @return reference to self for chaining methods
- */
- public Settings setXMax(double xMax) {
- this.xMax = xMax;
- return this;
- }
-
- /**
- * Sets range of x-values on plot
- *
- * @param min x axis lower bound
- * @param max x axis upper bound
- * @return reference to self for chaining methods
- */
- public Settings setXRange(double min, double max) {
- setXMax(max);
- setXMin(min);
- return this;
- }
-
- /**
- * Sets lower bound for y-axis
- *
- * @param yMin lower bound for y-axis
- * @return reference to self for chaining methods
- */
- public Settings setYMin(double yMin) {
- this.yMin = yMin;
- return this;
- }
-
- /**
- * Sets upper bound for y-axis
- *
- * @param yMax upper bound for y-axis
- * @return reference to self for chaining methods
- */
- public Settings setYMax(double yMax) {
- this.yMax = yMax;
- return this;
- }
-
- /**
- * Sets range of y-values on plot
- *
- * @param min y axis lower bound
- * @param max y axis upper bound
- * @return reference to self for chaining methods
- */
- public Settings setYRange(double min, double max) {
- setYMax(max);
- setYMin(min);
- return this;
- }
-
- /**
- * Sets width of window
- *
- * @param width width of window
- * @return reference to self for chaining methods
- */
- public Settings setWidth(int width) {
- this.width = width;
- return this;
- }
-
- /**
- * Sets height of window
- *
- * @param height height of window
- * @return reference to self for chaining methods
- */
- public Settings setHeight(int height) {
- this.height = height;
- return this;
- }
-
- /**
- * Sets size of window
- *
- * @param width width of window
- * @param height height of window
- * @return reference to self for chaining methods
- */
- public Settings setSize(int width, int height) {
- setWidth(width);
- setHeight(height);
- return this;
- }
-}
diff --git a/src/com/stuypulse/stuylib/util/plot/TimeSeries.java b/src/com/stuypulse/stuylib/util/plot/TimeSeries.java
deleted file mode 100644
index 95a39647..00000000
--- a/src/com/stuypulse/stuylib/util/plot/TimeSeries.java
+++ /dev/null
@@ -1,105 +0,0 @@
-/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
-/* This work is licensed under the terms of the MIT license */
-/* found in the root directory of this project. */
-
-package com.stuypulse.stuylib.util.plot;
-
-import com.stuypulse.stuylib.streams.numbers.IStream;
-
-import java.util.ArrayList;
-import java.util.LinkedList;
-import java.util.List;
-
-/**
- * A TimeSeries is used to plot a stream of values (IStream) that changes over time.
- *
- * A TimeSeries is created with a TimeSpan, which the stream is always assumed to be in. This
- * allows the x-axis to be precomputed with evenly spaced points in the time span.
- *
- * @author Myles Pasetsky (myles.pasetsky@gmail.com)
- */
-public class TimeSeries extends Series {
-
- /** The span of time that the series is within */
- public static class TimeSpan {
-
- /** bounds of time span */
- public final double min, max;
-
- /**
- * Create a TimeSpan
- *
- * @param min minimum time
- * @param max maximum time
- */
- public TimeSpan(double min, double max) {
- this.min = min;
- this.max = max;
- }
- }
-
- /** precomputed x-values */
- private List