[wpimath] Make swerve kinematics functions immutable #8274
+247
−268
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
github-actions
bot
added
component: wpimath
calcmogul
previously approved these changes
Oct 3, 2025
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
Outdated
Show resolved
Hide resolved
wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
Outdated
Show resolved
Hide resolved
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
Show resolved
Hide resolved
Gold856
force-pushed
the
immutable-swervemodulestate-functions
branch
2 times, most recently
from
b5cc719 to
994050e
Compare
Gold856
force-pushed
the
immutable-swervemodulestate-functions
branch
from
994050e to
80c5438
Compare
auscompgeek
reviewed
Oct 4, 2025
wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
Outdated
Show resolved
Hide resolved
Daniel1464
suggested changes
Oct 20, 2025
There was a problem hiding this comment.
It would be more consistent if SwerveModuleState and SwerveModulePosition were entirely immutable, i.e final speed, angle, and distance properties, along with withX() member functions
There was a problem hiding this comment.
If you're still modifying specific members directly with no invariants to maintain (e.g., via withX()), then member function access is just more boilerplate for no gain. Spawning another object on top of that is just needlessly wasteful.
There was a problem hiding this comment.
Why make the other functions immutable then?
There was a problem hiding this comment.
Member variable mutation is easier for the reader to notice when done directly than when member functions do it.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
5 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.