Represents a translation in 3D space. More...

#include <frc/geometry/Translation3d.h>

Public Member Functions
constexpr	Translation3d ()=default
	Constructs a Translation3d with X, Y, and Z components equal to zero.

constexpr	Translation3d (units::meter_t x, units::meter_t y, units::meter_t z)
	Constructs a Translation3d with the X, Y, and Z components equal to the provided values.

constexpr	Translation3d (units::meter_t distance, const Rotation3d &angle)
	Constructs a Translation3d with the provided distance and angle.

constexpr	Translation3d (const Eigen::Vector3d &vector)
	Constructs a Translation3d from a 3D translation vector.

constexpr	Translation3d (const Translation2d &translation)
	Constructs a 3D translation from a 2D translation in the X-Y plane.

constexpr units::meter_t	Distance (const Translation3d &other) const
	Calculates the distance between two translations in 3D space.

constexpr units::square_meter_t	SquaredDistance (const Translation3d &other) const
	Calculates the squared distance between two translations in 3D 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 units::meter_t	Z () const
	Returns the Z component of the translation.

constexpr Eigen::Vector3d	ToVector () const
	Returns a 3D 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 Translation3d	RotateBy (const Rotation3d &other) const
	Applies a rotation to the translation in 3D space.

constexpr Translation3d	RotateAround (const Translation3d &other, const Rotation3d &rot) const
	Rotates this translation around another translation in 3D space.

constexpr units::square_meter_t	Dot (const Translation3d &other) const
	Computes the dot product between this translation and another translation in 3D space.

constexpr Eigen::Vector< units::square_meter_t, 3 >	Cross (const Translation3d &other) const
	Computes the cross product between this translation and another translation in 3D space.

constexpr Translation2d	ToTranslation2d () const
	Returns a Translation2d representing this Translation3d projected into the X-Y plane.

constexpr Translation3d	operator+ (const Translation3d &other) const
	Returns the sum of two translations in 3D space.

constexpr Translation3d	operator- (const Translation3d &other) const
	Returns the difference between two translations.

constexpr Translation3d	operator- () const
	Returns the inverse of the current translation.

constexpr Translation3d	operator* (double scalar) const
	Returns the translation multiplied by a scalar.

constexpr Translation3d	operator/ (double scalar) const
	Returns the translation divided by a scalar.

constexpr bool	operator== (const Translation3d &other) const
	Checks equality between this Translation3d and another object.

constexpr Translation3d	Nearest (std::span< const Translation3d > translations) const
	Returns the nearest Translation3d from a collection of translations.

constexpr Translation3d	Nearest (std::initializer_list< Translation3d > translations) const
	Returns the nearest Translation3d from a collection of translations.

Detailed Description

Represents a translation in 3D 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, left is positive Y, and up is positive Z.

Constructor & Destructor Documentation

◆ Translation3d() [1/5]

frc::Translation3d::Translation3d ( )

constexprdefault

Constructs a Translation3d with X, Y, and Z components equal to zero.

◆ Translation3d() [2/5]

frc::Translation3d::Translation3d	(	units::meter_t	x,
		units::meter_t	y,
		units::meter_t	z )

inlineconstexpr

Constructs a Translation3d with the X, Y, and Z components equal to the provided values.

Parameters

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

◆ Translation3d() [3/5]

frc::Translation3d::Translation3d	(	units::meter_t	distance,
		const Rotation3d &	angle )

inlineconstexpr

Constructs a Translation3d 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.

◆ Translation3d() [4/5]

frc::Translation3d::Translation3d ( const Eigen::Vector3d & vector )

inlineexplicitconstexpr

Constructs a Translation3d from a 3D translation vector.

The values are assumed to be in meters.

Parameters

vector The translation vector.

◆ Translation3d() [5/5]

frc::Translation3d::Translation3d ( const Translation2d & translation )

inlineexplicitconstexpr

Constructs a 3D translation from a 2D translation in the X-Y plane.

Parameters

translation The 2D translation.

See also: Pose3d(Pose2d); Transform3d(Transform2d)

Member Function Documentation

◆ Cross()

Eigen::Vector< units::square_meter_t, 3 > frc::Translation3d::Cross ( const Translation3d & other ) const

inlineconstexpr

Computes the cross product between this translation and another translation in 3D space.

The resulting translation will be perpendicular to both translations.

The 3D cross product between two translations is defined as <y₁z₂-y₂z₁, z₁x₂-z₂x₁, 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::Translation3d::Distance ( const Translation3d & other ) const

inlineconstexpr

Calculates the distance between two translations in 3D space.

The distance between translations is defined as √((x₂−x₁)²+(y₂−y₁)²+(z₂−z₁)²).

Parameters

other The translation to compute the distance to.

Returns: The distance between the two translations.

◆ Dot()

units::square_meter_t frc::Translation3d::Dot ( const Translation3d & other ) const

inlineconstexpr

Computes the dot product between this translation and another translation in 3D space.

The dot product between two translations is defined as x₁x₂+y₁y₂+z₁z₂.

Parameters

other The translation to compute the dot product with.

Returns: The dot product between the two translations.

◆ Nearest() [1/2]

Translation3d frc::Translation3d::Nearest ( std::initializer_list< Translation3d > translations ) const

inlineconstexpr

Returns the nearest Translation3d from a collection of translations.

Parameters

translations The collection of translations.

Returns: The nearest Translation3d from the collection.

◆ Nearest() [2/2]

Translation3d frc::Translation3d::Nearest ( std::span< const Translation3d > translations ) const

inlineconstexpr

Returns the nearest Translation3d from a collection of translations.

Parameters

translations The collection of translations.

Returns: The nearest Translation3d from the collection.

◆ Norm()

units::meter_t frc::Translation3d::Norm ( ) const

inlineconstexpr

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

Returns: The norm of the translation.

◆ operator*()

Translation3d frc::Translation3d::operator* ( double scalar ) const

inlineconstexpr

Returns the translation multiplied by a scalar.

For example, Translation3d{2.0, 2.5, 4.5} * 2 = Translation3d{4.0, 5.0, 9.0}.

Parameters

scalar The scalar to multiply by.

Returns: The scaled translation.

◆ operator+()

Translation3d frc::Translation3d::operator+ ( const Translation3d & other ) const

inlineconstexpr

Returns the sum of two translations in 3D space.

For example, Translation3d{1.0, 2.5, 3.5} + Translation3d{2.0, 5.5, 7.5} = Translation3d{3.0, 8.0, 11.0}.

Parameters

other The translation to add.

Returns: The sum of the translations.

◆ operator-() [1/2]

Translation3d frc::Translation3d::operator- ( ) const

inlineconstexpr

Returns the inverse of the current translation.

This is equivalent to negating all components of the translation.

Returns: The inverse of the current translation.

◆ operator-() [2/2]

Translation3d frc::Translation3d::operator- ( const Translation3d & other ) const

inlineconstexpr

Returns the difference between two translations.

For example, Translation3d{5.0, 4.0, 3.0} - Translation3d{1.0, 2.0, 3.0} = Translation3d{4.0, 2.0, 0.0}.

Parameters

other The translation to subtract.

Returns: The difference between the two translations.

◆ operator/()

Translation3d frc::Translation3d::operator/ ( double scalar ) const

inlineconstexpr

Returns the translation divided by a scalar.

For example, Translation3d{2.0, 2.5, 4.5} / 2 = Translation3d{1.0, 1.25, 2.25}.

Parameters

scalar The scalar to divide by.

Returns: The scaled translation.

◆ operator==()

bool frc::Translation3d::operator== ( const Translation3d & other ) const

inlineconstexpr

Checks equality between this Translation3d and another object.

Parameters

other The other object.

Returns: Whether the two objects are equal.

◆ RotateAround()

Translation3d frc::Translation3d::RotateAround	(	const Translation3d &	other,
		const Rotation3d &	rot ) const

inlineconstexpr

Rotates this translation around another translation in 3D space.

Parameters

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

Returns: The new rotated translation.

◆ RotateBy()

Translation3d frc::Translation3d::RotateBy ( const Rotation3d & other ) const

inlineconstexpr

Applies a rotation to the translation in 3D space.

For example, rotating a Translation3d of <2, 0, 0> by 90 degrees around the Z axis will return a Translation3d of <0, 2, 0>.

Parameters

other The rotation to rotate the translation by.

Returns: The new rotated translation.

◆ SquaredDistance()

units::square_meter_t frc::Translation3d::SquaredDistance ( const Translation3d & other ) const

inlineconstexpr

Calculates the squared distance between two translations in 3D space.

This is equivalent to squaring the result of Distance(Translation3d), but avoids computing a square root.

The squared distance between translations is defined as (x₂−x₁)²+(y₂−y₁)²+(z₂−z₁)².

Parameters

other The translation to compute the squared distance to.

Returns: The squared distance between the two translations.

◆ SquaredNorm()

units::square_meter_t frc::Translation3d::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.

◆ ToTranslation2d()

Translation2d frc::Translation3d::ToTranslation2d ( ) const

inlineconstexpr

Returns a Translation2d representing this Translation3d projected into the X-Y plane.

◆ ToVector()

Eigen::Vector3d frc::Translation3d::ToVector ( ) const

inlineconstexpr

Returns a 3D translation vector representation of this translation.

Returns: A 3D translation vector representation of this translation.

◆ X()

units::meter_t frc::Translation3d::X ( ) const

inlineconstexpr

Returns the X component of the translation.

Returns: The Z component of the translation.

◆ Y()

units::meter_t frc::Translation3d::Y ( ) const

inlineconstexpr

Returns the Y component of the translation.

Returns: The Y component of the translation.

◆ Z()

units::meter_t frc::Translation3d::Z ( ) const

inlineconstexpr

Returns the Z component of the translation.

Returns: The Z component of the translation.

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

frc/geometry/Translation3d.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Translation3d() [1/5]

◆ Translation3d() [2/5]

◆ Translation3d() [3/5]

◆ Translation3d() [4/5]

◆ Translation3d() [5/5]

Member Function Documentation

◆ Cross()

◆ Distance()

◆ Dot()

◆ Nearest() [1/2]

◆ Nearest() [2/2]

◆ Norm()

◆ operator*()

◆ operator+()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator/()

◆ operator==()

◆ RotateAround()

◆ RotateBy()

◆ SquaredDistance()

◆ SquaredNorm()

◆ ToTranslation2d()

◆ ToVector()

◆ X()

◆ Y()

◆ Z()