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mreow #15

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22 changes: 12 additions & 10 deletions src/main/java/frc/robot/util/AllianceFlipUtil.java
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Original file line number Diff line number Diff line change
Expand Up @@ -19,19 +19,25 @@
public class AllianceFlipUtil {

public static double applyX(double x) {
return shouldFlip() ? FieldConstants.FIELD_LENGTH - x : x;
return shouldFlip()
? FieldConstants.FIELD_LENGTH - x
: x;
}

public static double applyY(double y) {
return shouldFlip() ? FieldConstants.FIELD_WIDTH - y : y;
return shouldFlip()
? FieldConstants.FIELD_WIDTH - y
: y;
}

public static Translation2d apply(Translation2d translation) {
return new Translation2d(applyX(translation.getX()), applyY(translation.getY()));
}

public static Rotation2d apply(Rotation2d rotation) {
return shouldFlip() ? rotation.rotateBy(Rotation2d.kPi) : rotation;
return shouldFlip()
? rotation.rotateBy(Rotation2d.kPi)
: rotation;
}

public static Pose2d apply(Pose2d pose) {
Expand All @@ -40,15 +46,11 @@ public static Pose2d apply(Pose2d pose) {
: pose;
}

public static Pose2d flip(Pose2d pose) {
return new Pose2d(apply(pose.getTranslation()), apply(pose.getRotation()));
}

public static ArrayList<Pose2d> flip(List<Pose2d> poses) {
public static ArrayList<Pose2d> apply(List<Pose2d> poses) {
ArrayList<Pose2d> flippedPoses = new ArrayList<Pose2d>();

for (Pose2d pose : poses) {
flippedPoses.add(flip(pose));
flippedPoses.add(apply(pose));
}

return flippedPoses;
Expand All @@ -58,4 +60,4 @@ public static boolean shouldFlip() {
return (DriverStation.getAlliance().isPresent()
&& DriverStation.getAlliance().get() == DriverStation.Alliance.Red);
}
}
}