Package edu.wpi.first.math.geometry

Class Translation3d

java.lang.Object
edu.wpi.first.math.geometry.Translation3d
All Implemented Interfaces:
Interpolatable<Translation3d>, ProtobufSerializable, StructSerializable, WPISerializable
public class Translation3d extends Object implements Interpolatable<Translation3d>, ProtobufSerializable, StructSerializable
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.

  • Field Details

    • kZero

      public static final Translation3d kZero
      A preallocated Translation3d representing the origin.

      This exists to avoid allocations for common translations.

    • proto

      public static final Translation3dProto proto
      Translation3d protobuf for serialization.

    • struct

      public static final Translation3dStruct struct
      Translation3d struct for serialization.

  • Constructor Details

    • Translation3d

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

    • Translation3d

      public Translation3d(double x, double y, double z)
      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

      public Translation3d(double distance, Rotation3d angle)
      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

      public Translation3d(Distance x, Distance y, Distance z)
      Constructs a Translation3d with the X, Y, and Z components equal to the provided values. The components will be converted to and tracked as meters.
      Parameters:
      x - The x component of the translation.
      y - The y component of the translation.
      z - The z component of the translation.

    • Translation3d

      public Translation3d(Translation2d translation)
      Constructs a 3D translation from a 2D translation in the X-Y plane.
      Parameters:
      translation - The 2D translation.
      See Also:

    • Translation3d

      public Translation3d(Vector<N3> vector)
      Constructs a Translation3d from a 3D translation vector. The values are assumed to be in meters.
      Parameters:
      vector - The translation vector.

  • Method Details

    • getDistance

      public double getDistance(Translation3d other)
      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.

    • getX

      public double getX()
      Returns the X component of the translation.
      Returns:
      The X component of the translation.

    • getY

      public double getY()
      Returns the Y component of the translation.
      Returns:
      The Y component of the translation.

    • getZ

      public double getZ()
      Returns the Z component of the translation.
      Returns:
      The Z component of the translation.

    • getMeasureX

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

    • getMeasureY

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

    • getMeasureZ

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

    • toVector

      public Vector<N3> toVector()
      Returns a 2D translation vector representation of this translation.
      Returns:
      A 2D translation vector representation of this translation.

    • getNorm

      public double getNorm()
      Returns the norm, or distance from the origin to the translation.
      Returns:
      The norm of the translation.

    • rotateBy

      public Translation3d rotateBy(Rotation3d other)
      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.

    • rotateAround

      public Translation3d rotateAround(Translation3d other, Rotation3d rot)
      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.

    • toTranslation2d

      public Translation2d toTranslation2d()
      Returns a Translation2d representing this Translation3d projected into the X-Y plane.
      Returns:
      A Translation2d representing this Translation3d projected into the X-Y plane.

    • plus

      public Translation3d plus(Translation3d other)
      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.

    • minus

      public Translation3d minus(Translation3d other)
      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.

    • unaryMinus

      public Translation3d unaryMinus()
      Returns the inverse of the current translation. This is equivalent to negating all components of the translation.
      Returns:
      The inverse of the current translation.

    • times

      public Translation3d times(double scalar)
      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.

    • div

      public Translation3d div(double scalar)
      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 multiply by.
      Returns:
      The reference to the new mutated object.

    • nearest

      public Translation3d nearest(Collection<Translation3d> translations)
      Returns the nearest Translation3d from a collection of translations.
      Parameters:
      translations - The collection of translations to find the nearest.
      Returns:
      The nearest Translation3d from the collection.

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • equals

      public boolean equals(Object obj)
      Checks equality between this Translation3d 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

    • interpolate

      public Translation3d interpolate(Translation3d endValue, double t)
      Description copied from interface: Interpolatable
      Return the interpolated value. This object is assumed to be the starting position, or lower bound.
      Specified by:
      interpolate in interface Interpolatable<Translation3d>
      Parameters:
      endValue - The upper bound, or end.
      t - How far between the lower and upper bound we are. This should be bounded in [0, 1].
      Returns:
      The interpolated value.