HeadingTransformProcessor (ROOSTER API)

java.lang.Object
- org.team1540.rooster.drive.pipeline.HeadingTransformProcessor

All Implemented Interfaces:

Function<TankDriveData,TankDriveData>, Processor<TankDriveData,TankDriveData>
```
public class HeadingTransformProcessor
extends Object
implements Processor<TankDriveData,TankDriveData>
```
Processor to convert headings on [0,2π] to [-π, π] and vice versa. (This class also supports degrees by passing true as the second argument to HeadingTransformProcessor(boolean, boolean). This class is a Processor that uses TankDriveData. All fields are passed through as-is except for the heading field which is converted if it is present.

Constructor Summary

Constructors
Constructor	Description
`HeadingTransformProcessor(boolean outputPositive)`	Create a new `HeadingTransformProcessor` that uses radians.
`HeadingTransformProcessor(boolean outputPositive, boolean radians)`	Create a new `HeadingTransformProcessor`.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type Method Description

TankDriveData apply(TankDriveData data)
- Methods inherited from class java.lang.Object
  clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
- Methods inherited from interface java.util.function.Function
  andThen, compose
- Methods inherited from interface org.team1540.rooster.functional.Processor
  followedBy, process

- Constructor Detail
  - HeadingTransformProcessor
```
public HeadingTransformProcessor(boolean outputPositive)
```
    Create a new HeadingTransformProcessor that uses radians.
    
    Parameters:
    
    outputPositive - Whether to output values in the range [0,2π] (i.e. [0,360]). If true, creates a HeadingTransformProcessor to convert angles on [-π, π] to angles on [0,2π]; if false, creates one that does the reverse.
  - HeadingTransformProcessor
```
public HeadingTransformProcessor(boolean outputPositive,
                                 boolean radians)
```
    Create a new HeadingTransformProcessor.
    
    Parameters:
    
    outputPositive - Whether to output values in the range [0,2π] (or [0,360]). If true, creates a HeadingTransformProcessor to convert angles on [-π, π] to angles on [0,2π]; if false, creates one that does the reverse.
    
    radians - Whether to use radians. If true, assumes inputs are in radians; otherwise, uses degrees.
- Method Detail
  - apply
```
public TankDriveData apply(TankDriveData data)
```
    Specified by:
    
    apply in interface Function<TankDriveData,TankDriveData>