39 {positiveX.m_axis(0), positiveY.m_axis(0), positiveZ.m_axis(0)},
40 {positiveX.m_axis(1), positiveY.m_axis(1), positiveZ.m_axis(1)},
41 {positiveX.m_axis(2), positiveY.m_axis(2), positiveZ.m_axis(2)}};
89 return translation.
RotateBy(
from.m_rotation - to.m_rotation);
103 return rotation.
RotateBy(
from.m_rotation - to.m_rotation);
132 const auto coordRot =
from.m_rotation - to.m_rotation;
#define WPILIB_DLLEXPORT
Definition SymbolExports.h:36
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Definition ThirdPartyNotices.txt:141
A class representing a coordinate system axis within the NWU coordinate system.
Definition CoordinateAxis.h:20
A helper class that converts Pose3d objects between different standard coordinate frames.
Definition CoordinateSystem.h:20
static constexpr Pose3d Convert(const Pose3d &pose, const CoordinateSystem &from, const CoordinateSystem &to)
Converts the given pose from one coordinate system to another.
Definition CoordinateSystem.h:114
static constexpr CoordinateSystem NWU()
Returns an instance of the North-West-Up (NWU) coordinate system.
Definition CoordinateSystem.h:53
static constexpr CoordinateSystem EDN()
Returns an instance of the East-Down-North (EDN) coordinate system.
Definition CoordinateSystem.h:63
static constexpr Rotation3d Convert(const Rotation3d &rotation, const CoordinateSystem &from, const CoordinateSystem &to)
Converts the given rotation from one coordinate system to another.
Definition CoordinateSystem.h:100
static constexpr Transform3d Convert(const Transform3d &transform, const CoordinateSystem &from, const CoordinateSystem &to)
Converts the given transform from one coordinate system to another.
Definition CoordinateSystem.h:129
static constexpr Translation3d Convert(const Translation3d &translation, const CoordinateSystem &from, const CoordinateSystem &to)
Converts the given translation from one coordinate system to another.
Definition CoordinateSystem.h:86
constexpr CoordinateSystem(const CoordinateAxis &positiveX, const CoordinateAxis &positiveY, const CoordinateAxis &positiveZ)
Constructs a coordinate system with the given cardinal directions for each axis.
Definition CoordinateSystem.h:31
static constexpr CoordinateSystem NED()
Returns an instance of the NED coordinate system.
Definition CoordinateSystem.h:73
Represents a 3D pose containing translational and rotational elements.
Definition Pose3d.h:28
constexpr const Translation3d & Translation() const
Returns the underlying translation.
Definition Pose3d.h:120
constexpr const Rotation3d & Rotation() const
Returns the underlying rotation.
Definition Pose3d.h:148
A rotation in a 3D coordinate frame represented by a quaternion.
Definition Rotation3d.h:29
constexpr Rotation3d RotateBy(const Rotation3d &other) const
Adds the new rotation to the current rotation.
Definition Rotation3d.h:322
Represents a translation in 3D space.
Definition Translation3d.h:26
constexpr Translation3d RotateBy(const Rotation3d &other) const
Applies a rotation to the translation in 3D space.
Definition Translation3d.h:144