A change in distance along a 3D arc since the last pose update. More...

#include <frc/geometry/Twist3d.h>

Public Member Functions
constexpr Transform3d	Exp () const
	Obtain a new Transform3d from a (constant curvature) velocity.

constexpr bool	operator== (const Twist3d &other) const
	Checks equality between this Twist3d and another object.

constexpr Twist3d	operator* (double factor) const
	Scale this by a given factor.

Public Attributes
units::meter_t	dx = 0_m
	Linear "dx" component.

units::meter_t	dy = 0_m
	Linear "dy" component.

units::meter_t	dz = 0_m
	Linear "dz" component.

units::radian_t	rx = 0_rad
	Rotation vector x component.

units::radian_t	ry = 0_rad
	Rotation vector y component.

units::radian_t	rz = 0_rad
	Rotation vector z component.

Detailed Description

A change in distance along a 3D arc since the last pose update.

We can use ideas from differential calculus to create new Pose3ds from a Twist3d and vice versa.

A Twist can be used to represent a difference between two poses.

Member Function Documentation

◆ Exp()

Transform3d frc::Twist3d::Exp ( ) const

constexpr

Obtain a new Transform3d from a (constant curvature) velocity.

See "https://file.tavsys.net/control/controls-engineering-in-frc.pdf" Controls Engineering in the FIRST Robotics Competition section 10.2 "Pose exponential" for a derivation.

The twist is a change in pose in the robot's coordinate frame since the previous pose update. When the user runs Exp() on the twist, the user will receive the pose delta.

"Exp" represents the pose exponential, which is solving a differential equation moving the pose forward in time.

Returns: The pose delta of the robot.

◆ operator*()

Twist3d frc::Twist3d::operator* ( double factor ) const

inlineconstexpr

Scale this by a given factor.

Parameters

factor The factor by which to scale.

Returns: The scaled Twist3d.

◆ operator==()

bool frc::Twist3d::operator== ( const Twist3d & other ) const

inlineconstexpr

Checks equality between this Twist3d and another object.

Parameters

other The other object.

Returns: Whether the two objects are equal.

Member Data Documentation

◆ dx

units::meter_t frc::Twist3d::dx = 0_m

Linear "dx" component.

◆ dy

units::meter_t frc::Twist3d::dy = 0_m

Linear "dy" component.

◆ dz

units::meter_t frc::Twist3d::dz = 0_m

Linear "dz" component.

◆ rx

units::radian_t frc::Twist3d::rx = 0_rad

Rotation vector x component.

◆ ry

units::radian_t frc::Twist3d::ry = 0_rad

Rotation vector y component.

◆ rz

units::radian_t frc::Twist3d::rz = 0_rad

Rotation vector z component.

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

frc/geometry/Twist3d.h

Public Member Functions

Public Attributes