Pose Factory

What is PoseFactory?

The PoseFactory is a method for creating and managing poses in a pathing system. It allows you to define poses with specific positions and headings, and then use them to create paths for your robot to follow. It provides an easy way to apply transformations and easier management of poses to a group of Poses at once, instead of having to manage each pose individually. For example, you can create a PoseFactory with a specific mirroring transformation, to mirror all poses across a specific axis.

Methods

These methods are used on a PoseFactory:

• PoseFactory.degrees(): Creates a PoseFactory that uses degrees for inputted heading values.
• PoseFactory.radians(): Creates a PoseFactory that uses radians for inputted heading values.
• poseFactory.mirrorX(double mirrorLine): Modifies a PoseFactory that mirrors all poses across x = mirrorLine.
• poseFactory.mirrorY(double mirrorLine): Modifies a PoseFactory that mirrors all poses across y = mirrorLine.

You can use these when creating your PoseFactory, and your can mirror your PoseFactory at any time

PoseFactory factory = PoseFactory.degrees();
PoseFactory factoryRadians = PoseFactory.radians();

// Mirror the PoseFactory after creating it, can be done at any time 
factory = factory.mirrorX(70.75); // field is 141.5 x 141.5, so this mirrors across the center of the field
factoryRadians = factoryRadians.mirrorY(70.75);

Pose Creation

If we have a PoseFactory poseFactory, we can create a Pose:

Pose pose = poseFactory.of(x, y, heading);

The heading can be specified in degrees or radians, depending on how the PoseFactory was created. If the PoseFactory was created with a mirroring transformation, the Pose will be mirrored across the specified axis.