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Update Flippable #69

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Update Flippable #69

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9 changes: 9 additions & 0 deletions utilities/flippable/FlippablePose2d.java
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,15 @@ public FlippableRotation2d getRotation() {
return new FlippableRotation2d(nonFlippedObject.getRotation(), shouldFlipWhenRedAlliance);
}

/**
* Gets the translation value of the pose. The pose will be flipped if the robot is on the red alliance and {@link #shouldFlipWhenRedAlliance} is true.
*
* @return the translation value of the pose
*/
public FlippableTranslation2d getTranslation() {
return new FlippableTranslation2d(nonFlippedObject.getTranslation(), shouldFlipWhenRedAlliance);
}

@Override
protected Pose2d flip(Pose2d pose) {
return FlippingUtil.flipFieldPose(pose);
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