SwerveModulePosition Class

[grappell]

I may be missing something completely obvious, and sorry if I am, but did the SwerveModulePosition class get moved or deleted from kinematics?

Any help is appreciated, and thanks in advance!

[calcmogul]

Here's what changed between 2023.4.3 and 2024.1.1 beta 2.

diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
index 7968154ae..d058764f3 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
@@ -4,11 +4,14 @@
 
 package edu.wpi.first.math.kinematics;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.interpolation.Interpolatable;
 import java.util.Objects;
 
 /** Represents the state of one swerve module. */
-public class SwerveModulePosition implements Comparable<SwerveModulePosition> {
+public class SwerveModulePosition
+    implements Comparable<SwerveModulePosition>, Interpolatable<SwerveModulePosition> {
   /** Distance measured by the wheel of the module. */
   public double distanceMeters;
 
@@ -60,4 +63,20 @@ public class SwerveModulePosition implements Comparable<SwerveModulePosition> {
     return String.format(
         "SwerveModulePosition(Distance: %.2f m, Angle: %s)", distanceMeters, angle);
   }
+
+  /**
+   * Returns a copy of this swerve module position.
+   *
+   * @return A copy.
+   */
+  public SwerveModulePosition copy() {
+    return new SwerveModulePosition(distanceMeters, angle);
+  }
+
+  @Override
+  public SwerveModulePosition interpolate(SwerveModulePosition endValue, double t) {
+    return new SwerveModulePosition(
+        MathUtil.interpolate(this.distanceMeters, endValue.distanceMeters, t),
+        this.angle.interpolate(endValue.angle, t));
+  }
 }

[grappell]

Thank you for the response.

Are there any changes since 2023.4.3?

[calcmogul]

What do you mean? That's what I just posted.

[grappell]

Oh, sorry. Misread the response. Thank you for your time.