Package edu.wpi.first.math.geometry

Class Twist3d

java.lang.Object
edu.wpi.first.math.geometry.Twist3d
All Implemented Interfaces:
ProtobufSerializable, StructSerializable, WPISerializable
public class Twist3d extends Object implements ProtobufSerializable, StructSerializable
A change in distance along a 3D arc since the last pose update. We can use ideas from differential calculus to create new Pose3d objects from a Twist3d and vice versa.

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

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    double
    dx
    Linear "dx" component.
    double
    dy
    Linear "dy" component.
    double
    dz
    Linear "dz" component.
    static final Twist3dProto
    proto
    Twist3d protobuf for serialization.
    double
    rx
    Rotation vector x component (radians).
    double
    ry
    Rotation vector y component (radians).
    double
    rz
    Rotation vector z component (radians).
    static final Twist3dStruct
    struct
    Twist3d struct for serialization.

  • Constructor Summary

    Constructors
    Constructor
    Description
    Twist3d()
    Default constructor.
    Twist3d(double dx, double dy, double dz, double rx, double ry, double rz)
    Constructs a Twist3d with the given values.

  • Method Summary

    Modifier and Type
    Method
    Description
    boolean
    equals(Object obj)
    Checks equality between this Twist3d and another object.
    int
    hashCode()
     
    String
    toString()
     

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, wait, wait, wait

  • Field Details

    • dx

      public double dx
      Linear "dx" component.

    • dy

      public double dy
      Linear "dy" component.

    • dz

      public double dz
      Linear "dz" component.

    • rx

      public double rx
      Rotation vector x component (radians).

    • ry

      public double ry
      Rotation vector y component (radians).

    • rz

      public double rz
      Rotation vector z component (radians).

    • proto

      public static final Twist3dProto proto
      Twist3d protobuf for serialization.

    • struct

      public static final Twist3dStruct struct
      Twist3d struct for serialization.

  • Constructor Details

    • Twist3d

      public Twist3d()
      Default constructor.

    • Twist3d

      public Twist3d(double dx, double dy, double dz, double rx, double ry, double rz)
      Constructs a Twist3d with the given values.
      Parameters:
      dx - Change in x direction relative to robot.
      dy - Change in y direction relative to robot.
      dz - Change in z direction relative to robot.
      rx - Rotation vector x component.
      ry - Rotation vector y component.
      rz - Rotation vector z component.

  • Method Details

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • equals

      public boolean equals(Object obj)
      Checks equality between this Twist3d 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