Transform2d.h

Go to the documentation of this file.

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <wpi/SymbolExports.h>
 
#include "frc/geometry/Translation2d.h"
 
namespace frc {
 
class WPILIB_DLLEXPORT Pose2d;
 
/**
 * Represents a transformation for a Pose2d in the pose's frame.
 */
class WPILIB_DLLEXPORT Transform2d {
 public:
  /**
   * Constructs the transform that maps the initial pose to the final pose.
   *
   * @param initial The initial pose for the transformation.
   * @param final The final pose for the transformation.
   */
  Transform2d(Pose2d initial, Pose2d final);
 
  /**
   * Constructs a transform with the given translation and rotation components.
   *
   * @param translation Translational component of the transform.
   * @param rotation Rotational component of the transform.
   */
  constexpr Transform2d(Translation2d translation, Rotation2d rotation);
 
  /**
   * Constructs a transform with x and y translations instead of a separate
   * Translation2d.
   *
   * @param x The x component of the translational component of the transform.
   * @param y The y component of the translational component of the transform.
   * @param rotation The rotational component of the transform.
   */
  constexpr Transform2d(units::meter_t x, units::meter_t y,
                        Rotation2d rotation);
 
  /**
   * Constructs the identity transform -- maps an initial pose to itself.
   */
  constexpr Transform2d() = default;
 
  /**
   * Returns the translation component of the transformation.
   *
   * @return Reference to the translational component of the transform.
   */
  constexpr const Translation2d& Translation() const { return m_translation; }
 
  /**
   * Returns the X component of the transformation's translation.
   *
   * @return The x component of the transformation's translation.
   */
  constexpr units::meter_t X() const { return m_translation.X(); }
 
  /**
   * Returns the Y component of the transformation's translation.
   *
   * @return The y component of the transformation's translation.
   */
  constexpr units::meter_t Y() const { return m_translation.Y(); }
 
  /**
   * Returns the rotational component of the transformation.
   *
   * @return Reference to the rotational component of the transform.
   */
  constexpr const Rotation2d& Rotation() const { return m_rotation; }
 
  /**
   * Invert the transformation. This is useful for undoing a transformation.
   *
   * @return The inverted transformation.
   */
  constexpr Transform2d Inverse() const;
 
  /**
   * Multiplies the transform by the scalar.
   *
   * @param scalar The scalar.
   * @return The scaled Transform2d.
   */
  constexpr Transform2d operator*(double scalar) const {
    return Transform2d(m_translation * scalar, m_rotation * scalar);
  }
 
  /**
   * Divides the transform by the scalar.
   *
   * @param scalar The scalar.
   * @return The scaled Transform2d.
   */
  constexpr Transform2d operator/(double scalar) const {
    return *this * (1.0 / scalar);
  }
 
  /**
   * Composes two transformations. The second transform is applied relative to
   * the orientation of the first.
   *
   * @param other The transform to compose with this one.
   * @return The composition of the two transformations.
   */
  Transform2d operator+(const Transform2d& other) const;
 
  /**
   * Checks equality between this Transform2d and another object.
   */
  bool operator==(const Transform2d&) const = default;
 
 private:
  Translation2d m_translation;
  Rotation2d m_rotation;
};
}  // namespace frc
 
#include "frc/geometry/proto/Transform2dProto.h"
#include "frc/geometry/struct/Transform2dStruct.h"
#include "frc/geometry/Transform2d.inc"