41 constexpr Translation3d(units::meter_t x, units::meter_t y, units::meter_t z)
42 : m_x{x}, m_y{y}, m_z{z} {}
53 m_x = rectangular.
X();
54 m_y = rectangular.Y();
55 m_z = rectangular.Z();
65 : m_x{
units::meter_t{vector.x()}},
66 m_y{
units::meter_t{vector.y()}},
67 m_z{
units::meter_t{vector.z()}} {}
100 constexpr units::meter_t
X()
const {
return m_x; }
107 constexpr units::meter_t
Y()
const {
return m_y; }
114 constexpr units::meter_t
Z()
const {
return m_z; }
122 return Eigen::Vector3d{{m_x.value(), m_y.value(), m_z.value()}};
130 constexpr units::meter_t
Norm()
const {
145 Quaternion p{0.0, m_x.value(), m_y.value(), m_z.value()};
146 auto qprime = other.GetQuaternion() * p * other.GetQuaternion().
Inverse();
147 return Translation3d{units::meter_t{qprime.X()}, units::meter_t{qprime.Y()},
148 units::meter_t{qprime.Z()}};
160 return (*
this - other).
RotateBy(rot) + other;
182 return {X() + other.X(), Y() + other.Y(), Z() + other.Z()};
196 return operator+(-other);
232 return operator*(1.0 /
scalar);
248 units::meter_t m_x = 0_m;
249 units::meter_t m_y = 0_m;
250 units::meter_t m_z = 0_m;
#define WPILIB_DLLEXPORT
Definition SymbolExports.h:36
namespace for Niels Lohmann
Definition json.h:99
Represents a quaternion.
Definition Quaternion.h:19
constexpr Quaternion Inverse() const
Returns the inverse of the quaternion.
Definition Quaternion.h:130
A rotation in a 3D coordinate frame represented by a quaternion.
Definition Rotation3d.h:29
Represents a translation in 2D space.
Definition Translation2d.h:29
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
constexpr Translation3d operator/(double scalar) const
Returns the translation divided by a scalar.
Definition Translation3d.h:231
constexpr units::meter_t Y() const
Returns the Y component of the translation.
Definition Translation3d.h:107
constexpr Translation3d RotateAround(const Translation3d &other, const Rotation3d &rot) const
Rotates this translation around another translation in 3D space.
Definition Translation3d.h:158
constexpr Translation3d(units::meter_t x, units::meter_t y, units::meter_t z)
Constructs a Translation3d with the X, Y, and Z components equal to the provided values.
Definition Translation3d.h:41
constexpr bool operator==(const Translation3d &other) const
Checks equality between this Translation3d and another object.
Definition Translation3d.h:241
constexpr Translation3d operator*(double scalar) const
Returns the translation multiplied by a scalar.
Definition Translation3d.h:217
constexpr units::meter_t X() const
Returns the X component of the translation.
Definition Translation3d.h:100
constexpr units::meter_t Z() const
Returns the Z component of the translation.
Definition Translation3d.h:114
constexpr Translation3d(const Eigen::Vector3d &vector)
Constructs a Translation3d from a 3D translation vector.
Definition Translation3d.h:64
constexpr Translation3d(const Translation2d &translation)
Constructs a 3D translation from a 2D translation in the X-Y plane.
Definition Translation3d.h:76
constexpr Translation3d operator-() const
Returns the inverse of the current translation.
Definition Translation3d.h:205
constexpr Translation3d operator+(const Translation3d &other) const
Returns the sum of two translations in 3D space.
Definition Translation3d.h:181
constexpr units::meter_t Norm() const
Returns the norm, or distance from the origin to the translation.
Definition Translation3d.h:130
constexpr Translation3d operator-(const Translation3d &other) const
Returns the difference between two translations.
Definition Translation3d.h:195
constexpr units::meter_t Distance(const Translation3d &other) const
Calculates the distance between two translations in 3D space.
Definition Translation3d.h:89
constexpr Translation2d ToTranslation2d() const
Returns a Translation2d representing this Translation3d projected into the X-Y plane.
Definition Translation3d.h:167
constexpr Translation3d()=default
Constructs a Translation3d with X, Y, and Z components equal to zero.
constexpr Translation3d(units::meter_t distance, const Rotation3d &angle)
Constructs a Translation3d with the provided distance and angle.
Definition Translation3d.h:51
constexpr Eigen::Vector3d ToVector() const
Returns a 3D translation vector representation of this translation.
Definition Translation3d.h:121
constexpr UnitType abs(const UnitType x) noexcept
Compute absolute value.
Definition math.h:726
constexpr auto sqrt(const UnitType &value) noexcept -> unit_t< square_root< typename units::traits::unit_t_traits< UnitType >::unit_type >, typename units::traits::unit_t_traits< UnitType >::underlying_type, linear_scale >
computes the square root of value
Definition math.h:485
WPILIB_DLLEXPORT void to_json(wpi::json &json, const Rotation3d &rotation)
WPILIB_DLLEXPORT void from_json(const wpi::json &json, Rotation3d &rotation)
constexpr auto pow(const UnitType &value) noexcept -> unit_t< typename units::detail::power_of_unit< power, typename units::traits::unit_t_traits< UnitType >::unit_type >::type, typename units::traits::unit_t_traits< UnitType >::underlying_type, linear_scale >
computes the value of value raised to the power
Definition base.h:2810
Unit Conversion Library namespace.
Definition acceleration.h:33
Type representing an arbitrary unit.
Definition base.h:888