org.firstinspires.ftc.robotcore.external.navigation

Class Acceleration

java.lang.Object

org.firstinspires.ftc.robotcore.external.navigation.Acceleration

public class Acceleration
extends java.lang.Object

Instances of Acceleration represent the second derivative of Position over time. This is also to say that Position is a double integration of Acceleration with respect to time.

See Also:

Velocity, Position

Field Summary

Fields

Modifier and Type	Field and Description
long	acquisitionTime the time on the System.nanoTime() clock at which the data was acquired.
static double	earthGravity The (nominal) acceleration due to Earth's gravity The units are in m/s^2
DistanceUnit	unit The distance units in which this acceleration is expressed.
double	xAccel
double	yAccel
double	zAccel

Constructor Summary

Constructors

Constructor and Description
Acceleration()
Acceleration(DistanceUnit unit, double xAccel, double yAccel, double zAccel, long acquisitionTime)

Method Summary

Modifier and Type	Method and Description
static Acceleration	fromGravity(double gx, double gy, double gz, long acquisitionTime) Returns an acceleration constructed from measures in units of earth's gravity rather than explicit distance units.
java.lang.String	toString()
Acceleration	toUnit(DistanceUnit distanceUnit)

Methods inherited from class java.lang.Object

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

Field Detail

earthGravity

public static final double earthGravity

The (nominal) acceleration due to Earth's gravity The units are in m/s^2

See Also:

Constant Field Values

unit

public DistanceUnit unit

The distance units in which this acceleration is expressed. The time unit is always "per second per second".

xAccel

public double xAccel

yAccel

public double yAccel

zAccel

public double zAccel

acquisitionTime

public long acquisitionTime

the time on the System.nanoTime() clock at which the data was acquired. If no timestamp is associated with this particular set of data, this value is zero.

Constructor Detail

Acceleration

public Acceleration()

Acceleration

public Acceleration(DistanceUnit unit,
                    double xAccel,
                    double yAccel,
                    double zAccel,
                    long acquisitionTime)

Method Detail

fromGravity

public static Acceleration fromGravity(double gx,
                                       double gy,
                                       double gz,
                                       long acquisitionTime)

Returns an acceleration constructed from measures in units of earth's gravity rather than explicit distance units.

toUnit

public Acceleration toUnit(DistanceUnit distanceUnit)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object