Package edu.wpi.first.math.geometry

Class Transform3d

java.lang.Object
edu.wpi.first.math.geometry.Transform3d
All Implemented Interfaces:
ProtobufSerializable, StructSerializable, WPISerializable
public class Transform3d extends Object implements ProtobufSerializable, StructSerializable
Represents a transformation for a Pose3d in the pose's frame.

  • Field Details

    • kZero

      public static final Transform3d kZero
      A preallocated Transform3d representing no transformation.

      This exists to avoid allocations for common transformations.

    • proto

      public static final Transform3dProto proto
      Transform3d protobuf for serialization.

    • struct

      public static final Transform3dStruct struct
      Transform3d struct for serialization.

  • Constructor Details

    • Transform3d

      public Transform3d(Pose3d initial, Pose3d last)
      Constructs the transform that maps the initial pose to the final pose.
      Parameters:
      initial - The initial pose for the transformation.
      last - The final pose for the transformation.

    • Transform3d

      public Transform3d(Translation3d translation, Rotation3d rotation)
      Constructs a transform with the given translation and rotation components.
      Parameters:
      translation - Translational component of the transform.
      rotation - Rotational component of the transform.

    • Transform3d

      public Transform3d(double x, double y, double z, Rotation3d rotation)
      Constructs a transform with x, y, and z translations instead of a separate Translation3d.
      Parameters:
      x - The x component of the translational component of the transform.
      y - The y component of the translational component of the transform.
      z - The z component of the translational component of the transform.
      rotation - The rotational component of the transform.

    • Transform3d

      public Transform3d(Distance x, Distance y, Distance z, Rotation3d rotation)
      Constructs a transform with x, y, and z translations instead of a separate Translation3d. The X, Y, and Z translations will be converted to and tracked as meters.
      Parameters:
      x - The x component of the translational component of the transform.
      y - The y component of the translational component of the transform.
      z - The z component of the translational component of the transform.
      rotation - The rotational component of the transform.

    • Transform3d

      public Transform3d(Matrix<N4,N4> matrix)
      Constructs a transform with the specified affine transformation matrix.
      Parameters:
      matrix - The affine transformation matrix.
      Throws:
      IllegalArgumentException - if the affine transformation matrix is invalid.

    • Transform3d

      public Transform3d()
      Constructs the identity transform -- maps an initial pose to itself.

    • Transform3d

      public Transform3d(Transform2d transform)
      Constructs a 3D transform from a 2D transform in the X-Y plane.
      Parameters:
      transform - The 2D transform.
      See Also:

  • Method Details

    • times

      public Transform3d times(double scalar)
      Multiplies the transform by the scalar.
      Parameters:
      scalar - The scalar.
      Returns:
      The scaled Transform3d.

    • div

      public Transform3d div(double scalar)
      Divides the transform by the scalar.
      Parameters:
      scalar - The scalar.
      Returns:
      The scaled Transform3d.

    • plus

      public Transform3d plus(Transform3d other)
      Composes two transformations. The second transform is applied relative to the orientation of the first.
      Parameters:
      other - The transform to compose with this one.
      Returns:
      The composition of the two transformations.

    • getTranslation

      public Translation3d getTranslation()
      Returns the translation component of the transformation.
      Returns:
      The translational component of the transform.

    • getX

      public double getX()
      Returns the X component of the transformation's translation.
      Returns:
      The x component of the transformation's translation.

    • getY

      public double getY()
      Returns the Y component of the transformation's translation.
      Returns:
      The y component of the transformation's translation.

    • getZ

      public double getZ()
      Returns the Z component of the transformation's translation.
      Returns:
      The z component of the transformation's translation.

    • getMeasureX

      public Distance getMeasureX()
      Returns the X component of the transformation's translation in a measure.
      Returns:
      The x component of the transformation's translation in a measure.

    • getMeasureY

      public Distance getMeasureY()
      Returns the Y component of the transformation's translation in a measure.
      Returns:
      The y component of the transformation's translation in a measure.

    • getMeasureZ

      public Distance getMeasureZ()
      Returns the Z component of the transformation's translation in a measure.
      Returns:
      The z component of the transformation's translation in a measure.

    • toMatrix

      public Matrix<N4,N4> toMatrix()
      Returns an affine transformation matrix representation of this transformation.
      Returns:
      An affine transformation matrix representation of this transformation.

    • getRotation

      public Rotation3d getRotation()
      Returns the rotational component of the transformation.
      Returns:
      Reference to the rotational component of the transform.

    • log

      public Twist3d log()
      Returns a Twist3d of the current transform (pose delta). If b is the output of a.log(), then b.exp() would yield a.
      Returns:
      The twist that maps the current transform.

    • inverse

      public Transform3d inverse()
      Invert the transformation. This is useful for undoing a transformation.
      Returns:
      The inverted transformation.

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • equals

      public boolean equals(Object obj)
      Checks equality between this Transform3d and another object.
      Overrides:
      equals in class Object
      Parameters:
      obj - The other object.
      Returns:
      Whether the two objects are equal or not.

    • hashCode

      public int hashCode()
      Overrides:
      hashCode in class Object