Represents a translation in 2D space. More...

#include <frc/geometry/Translation2d.h>

Public Member Functions
constexpr	Translation2d ()=default
	Constructs a Translation2d with X and Y components equal to zero.

constexpr	Translation2d (units::meter_t x, units::meter_t y)
	Constructs a Translation2d with the X and Y components equal to the provided values.

constexpr	Translation2d (units::meter_t distance, const Rotation2d &angle)
	Constructs a Translation2d with the provided distance and angle.

constexpr	Translation2d (const Eigen::Vector2d &vector)
	Constructs a Translation2d from a 2D translation vector.

constexpr units::meter_t	Distance (const Translation2d &other) const
	Calculates the distance between two translations in 2D space.

constexpr units::square_meter_t	SquaredDistance (const Translation2d &other) const
	Calculates the square of the distance between two translations in 2D space.

constexpr units::meter_t	X () const
	Returns the X component of the translation.

constexpr units::meter_t	Y () const
	Returns the Y component of the translation.

constexpr Eigen::Vector2d	ToVector () const
	Returns a 2D translation vector representation of this translation.

constexpr units::meter_t	Norm () const
	Returns the norm, or distance from the origin to the translation.

constexpr units::square_meter_t	SquaredNorm () const
	Returns the squared norm, or squared distance from the origin to the translation.

constexpr Rotation2d	Angle () const
	Returns the angle this translation forms with the positive X axis.

constexpr Translation2d	RotateBy (const Rotation2d &other) const
	Applies a rotation to the translation in 2D space.

constexpr Translation2d	RotateAround (const Translation2d &other, const Rotation2d &rot) const
	Rotates this translation around another translation in 2D space.

constexpr units::square_meter_t	Dot (const Translation2d &other) const
	Computes the dot product between this translation and another translation in 2D space.

constexpr units::square_meter_t	Cross (const Translation2d &other) const
	Computes the cross product between this translation and another translation in 2D space.

constexpr Translation2d	operator+ (const Translation2d &other) const
	Returns the sum of two translations in 2D space.

constexpr Translation2d	operator- (const Translation2d &other) const
	Returns the difference between two translations.

constexpr Translation2d	operator- () const
	Returns the inverse of the current translation.

constexpr Translation2d	operator* (double scalar) const
	Returns the translation multiplied by a scalar.

constexpr Translation2d	operator/ (double scalar) const
	Returns the translation divided by a scalar.

constexpr bool	operator== (const Translation2d &other) const
	Checks equality between this Translation2d and another object.

constexpr Translation2d	Nearest (std::span< const Translation2d > translations) const
	Returns the nearest Translation2d from a collection of translations.

constexpr Translation2d	Nearest (std::initializer_list< Translation2d > translations) const
	Returns the nearest Translation2d from a collection of translations.

Detailed Description

Represents a translation in 2D space.

This object can be used to represent a point or a vector.

This assumes that you are using conventional mathematical axes. When the robot is at the origin facing in the positive X direction, forward is positive X and left is positive Y.

Constructor & Destructor Documentation

◆ Translation2d() [1/4]

frc::Translation2d::Translation2d ( )

constexprdefault

Constructs a Translation2d with X and Y components equal to zero.

◆ Translation2d() [2/4]

frc::Translation2d::Translation2d	(	units::meter_t	x,
		units::meter_t	y )

inlineconstexpr

Constructs a Translation2d with the X and Y components equal to the provided values.

Parameters

x	The x component of the translation.
y	The y component of the translation.

◆ Translation2d() [3/4]

frc::Translation2d::Translation2d	(	units::meter_t	distance,
		const Rotation2d &	angle )

inlineconstexpr

Constructs a Translation2d with the provided distance and angle.

This is essentially converting from polar coordinates to Cartesian coordinates.

Parameters

distance	The distance from the origin to the end of the translation.
angle	The angle between the x-axis and the translation vector.

◆ Translation2d() [4/4]

frc::Translation2d::Translation2d ( const Eigen::Vector2d & vector )

inlineexplicitconstexpr

Constructs a Translation2d from a 2D translation vector.

The values are assumed to be in meters.

Parameters

vector The translation vector.

Member Function Documentation

◆ Angle()

Rotation2d frc::Translation2d::Angle ( ) const

inlineconstexpr

Returns the angle this translation forms with the positive X axis.

Returns: The angle of the translation

◆ Cross()

units::square_meter_t frc::Translation2d::Cross ( const Translation2d & other ) const

inlineconstexpr

Computes the cross product between this translation and another translation in 2D space.

The 2D cross product between two translations is defined as x₁y₂-x₂y₁.

Parameters

other The translation to compute the cross product with.

Returns: The cross product between the two translations.

◆ Distance()

units::meter_t frc::Translation2d::Distance ( const Translation2d & other ) const

inlineconstexpr

Calculates the distance between two translations in 2D space.

The distance between translations is defined as √((x₂−x₁)²+(y₂−y₁)²).

Parameters

other The translation to compute the distance to.

Returns: The distance between the two translations.

◆ Dot()

units::square_meter_t frc::Translation2d::Dot ( const Translation2d & other ) const

inlineconstexpr

Computes the dot product between this translation and another translation in 2D space.

The dot product between two translations is defined as x₁x₂+y₁y₂.

Parameters

other The translation to compute the dot product with.

Returns: The dot product between the two translations.

◆ Nearest() [1/2]

Translation2d frc::Translation2d::Nearest ( std::initializer_list< Translation2d > translations ) const

inlineconstexpr

Returns the nearest Translation2d from a collection of translations.

Parameters

translations The collection of translations.

Returns: The nearest Translation2d from the collection.

◆ Nearest() [2/2]

Translation2d frc::Translation2d::Nearest ( std::span< const Translation2d > translations ) const

inlineconstexpr

Returns the nearest Translation2d from a collection of translations.

Parameters

translations The collection of translations.

Returns: The nearest Translation2d from the collection.

◆ Norm()

units::meter_t frc::Translation2d::Norm ( ) const

inlineconstexpr

Returns the norm, or distance from the origin to the translation.

Returns: The norm of the translation.

◆ operator*()

Translation2d frc::Translation2d::operator* ( double scalar ) const

inlineconstexpr

Returns the translation multiplied by a scalar.

For example, Translation2d{2.0, 2.5} * 2 = Translation2d{4.0, 5.0}.

Parameters

scalar The scalar to multiply by.

Returns: The scaled translation.

◆ operator+()

Translation2d frc::Translation2d::operator+ ( const Translation2d & other ) const

inlineconstexpr

Returns the sum of two translations in 2D space.

For example, Translation3d{1.0, 2.5} + Translation3d{2.0, 5.5} = Translation3d{3.0, 8.0}.

Parameters

other The translation to add.

Returns: The sum of the translations.

◆ operator-() [1/2]

Translation2d frc::Translation2d::operator- ( ) const

inlineconstexpr

Returns the inverse of the current translation.

This is equivalent to rotating by 180 degrees, flipping the point over both axes, or negating all components of the translation.

Returns: The inverse of the current translation.

◆ operator-() [2/2]

Translation2d frc::Translation2d::operator- ( const Translation2d & other ) const

inlineconstexpr

Returns the difference between two translations.

For example, Translation2d{5.0, 4.0} - Translation2d{1.0, 2.0} = Translation2d{4.0, 2.0}.

Parameters

other The translation to subtract.

Returns: The difference between the two translations.

◆ operator/()

Translation2d frc::Translation2d::operator/ ( double scalar ) const

inlineconstexpr

Returns the translation divided by a scalar.

For example, Translation2d{2.0, 2.5} / 2 = Translation2d{1.0, 1.25}.

Parameters

scalar The scalar to divide by.

Returns: The scaled translation.

◆ operator==()

bool frc::Translation2d::operator== ( const Translation2d & other ) const

inlineconstexpr

Checks equality between this Translation2d and another object.

Parameters

other The other object.

Returns: Whether the two objects are equal.

◆ RotateAround()

Translation2d frc::Translation2d::RotateAround	(	const Translation2d &	other,
		const Rotation2d &	rot ) const

inlineconstexpr

Rotates this translation around another translation in 2D space.

[x_new]   [rot.cos, -rot.sin][x - other.x]   [other.x]
[y_new] = [rot.sin,  rot.cos][y - other.y] + [other.y]

Parameters

other	The other translation to rotate around.
rot	The rotation to rotate the translation by.

Returns: The new rotated translation.

◆ RotateBy()

Translation2d frc::Translation2d::RotateBy ( const Rotation2d & other ) const

inlineconstexpr

Applies a rotation to the translation in 2D space.

This multiplies the translation vector by a counterclockwise rotation matrix of the given angle.

[x_new]   [other.cos, -other.sin][x]
[y_new] = [other.sin,  other.cos][y]

For example, rotating a Translation2d of <2, 0> by 90 degrees will return a Translation2d of <0, 2>.

Parameters

other The rotation to rotate the translation by.

Returns: The new rotated translation.

◆ SquaredDistance()

units::square_meter_t frc::Translation2d::SquaredDistance ( const Translation2d & other ) const

inlineconstexpr

Calculates the square of the distance between two translations in 2D space.

This is equivalent to squaring the result of Distance(Translation2d), but avoids computing a square root.

The square of the distance between translations is defined as (x₂−x₁)²+(y₂−y₁)².

Parameters

other The translation to compute the squared distance to.

Returns: The square of the distance between the two translations.

◆ SquaredNorm()

units::square_meter_t frc::Translation2d::SquaredNorm ( ) const

inlineconstexpr

Returns the squared norm, or squared distance from the origin to the translation.

This is equivalent to squaring the result of Norm(), but avoids computing a square root.

Returns: The squared norm of the translation.

◆ ToVector()

Eigen::Vector2d frc::Translation2d::ToVector ( ) const

inlineconstexpr

Returns a 2D translation vector representation of this translation.

Returns: A 2D translation vector representation of this translation.

◆ X()

units::meter_t frc::Translation2d::X ( ) const

inlineconstexpr

Returns the X component of the translation.

Returns: The X component of the translation.

◆ Y()

units::meter_t frc::Translation2d::Y ( ) const

inlineconstexpr

Returns the Y component of the translation.

Returns: The Y component of the translation.

The documentation for this class was generated from the following file:

frc/geometry/Translation2d.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Translation2d() [1/4]

◆ Translation2d() [2/4]

◆ Translation2d() [3/4]

◆ Translation2d() [4/4]

Member Function Documentation

◆ Angle()

◆ Cross()

◆ Distance()

◆ Dot()

◆ Nearest() [1/2]

◆ Nearest() [2/2]

◆ Norm()

◆ operator*()

◆ operator+()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator/()

◆ operator==()

◆ RotateAround()

◆ RotateBy()

◆ SquaredDistance()

◆ SquaredNorm()

◆ ToVector()

◆ X()

◆ Y()