frc::CoordinateSystem Class Reference

A helper class that converts Pose3d objects between different standard coordinate frames. More...

#include <frc/geometry/CoordinateSystem.h>

Public Member Functions
	CoordinateSystem (const CoordinateAxis &positiveX, const CoordinateAxis &positiveY, const CoordinateAxis &positiveZ)
	Constructs a coordinate system with the given cardinal directions for each axis. More...
	CoordinateSystem (const CoordinateSystem &)=default
CoordinateSystem &	operator= (const CoordinateSystem &)=default
	CoordinateSystem (CoordinateSystem &&)=default
CoordinateSystem &	operator= (CoordinateSystem &&)=default

Static Public Member Functions
static const CoordinateSystem &	NWU ()
	Returns an instance of the North-West-Up (NWU) coordinate system. More...
static const CoordinateSystem &	EDN ()
	Returns an instance of the East-Down-North (EDN) coordinate system. More...
static const CoordinateSystem &	NED ()
	Returns an instance of the NED coordinate system. More...
static Translation3d	Convert (const Translation3d &translation, const CoordinateSystem &from, const CoordinateSystem &to)
	Converts the given translation from one coordinate system to another. More...
static Rotation3d	Convert (const Rotation3d &rotation, const CoordinateSystem &from, const CoordinateSystem &to)
	Converts the given rotation from one coordinate system to another. More...
static Pose3d	Convert (const Pose3d &pose, const CoordinateSystem &from, const CoordinateSystem &to)
	Converts the given pose from one coordinate system to another. More...
static Transform3d	Convert (const Transform3d &transform, const CoordinateSystem &from, const CoordinateSystem &to)
	Converts the given transform from one coordinate system to another. More...

Detailed Description

A helper class that converts Pose3d objects between different standard coordinate frames.

Constructor & Destructor Documentation

CoordinateSystem() [1/3]

frc::CoordinateSystem::CoordinateSystem	(	const CoordinateAxis &	positiveX,
		const CoordinateAxis &	positiveY,
		const CoordinateAxis &	positiveZ
	)

Constructs a coordinate system with the given cardinal directions for each axis.

Parameters

positiveX	The cardinal direction of the positive x-axis.
positiveY	The cardinal direction of the positive y-axis.
positiveZ	The cardinal direction of the positive z-axis.

Exceptions

std::domain_error

if the coordinate system isn't special orthogonal

CoordinateSystem() [2/3]

frc::CoordinateSystem::CoordinateSystem ( const CoordinateSystem &  )

default

CoordinateSystem() [3/3]

frc::CoordinateSystem::CoordinateSystem ( CoordinateSystem &&  )

default

Member Function Documentation

Convert() [1/4]

static Pose3d frc::CoordinateSystem::Convert ( const Pose3d &  pose, const CoordinateSystem &  from, const CoordinateSystem &  to  )

static

Converts the given pose from one coordinate system to another.

Parameters

pose	The pose to convert.
from	The coordinate system the pose starts in.
to	The coordinate system to which to convert.

Returns

The given pose in the desired coordinate system.

Convert() [2/4]

static Rotation3d frc::CoordinateSystem::Convert ( const Rotation3d &  rotation, const CoordinateSystem &  from, const CoordinateSystem &  to  )

static

Converts the given rotation from one coordinate system to another.

Parameters

rotation	The rotation to convert.
from	The coordinate system the rotation starts in.
to	The coordinate system to which to convert.

Returns

The given rotation in the desired coordinate system.

Convert() [3/4]

static Transform3d frc::CoordinateSystem::Convert ( const Transform3d &  transform, const CoordinateSystem &  from, const CoordinateSystem &  to  )

static

Converts the given transform from one coordinate system to another.

Parameters

transform	The transform to convert.
from	The coordinate system the transform starts in.
to	The coordinate system to which to convert.

Returns

The given transform in the desired coordinate system.

Convert() [4/4]

static Translation3d frc::CoordinateSystem::Convert ( const Translation3d &  translation, const CoordinateSystem &  from, const CoordinateSystem &  to  )

static

Converts the given translation from one coordinate system to another.

Parameters

translation	The translation to convert.
from	The coordinate system the translation starts in.
to	The coordinate system to which to convert.

Returns

The given translation in the desired coordinate system.

EDN()

static const CoordinateSystem & frc::CoordinateSystem::EDN ( )

static

Returns an instance of the East-Down-North (EDN) coordinate system.

The +X axis is east, the +Y axis is down, and the +Z axis is north.

NED()

static const CoordinateSystem & frc::CoordinateSystem::NED ( )

static

Returns an instance of the NED coordinate system.

The +X axis is north, the +Y axis is east, and the +Z axis is down.

NWU()

static const CoordinateSystem & frc::CoordinateSystem::NWU ( )

static

Returns an instance of the North-West-Up (NWU) coordinate system.

The +X axis is north, the +Y axis is west, and the +Z axis is up.

operator=() [1/2]

CoordinateSystem & frc::CoordinateSystem::operator= ( const CoordinateSystem &  )

default

operator=() [2/2]

CoordinateSystem & frc::CoordinateSystem::operator= ( CoordinateSystem &&  )

default

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The documentation for this class was generated from the following file:

• frc/geometry/CoordinateSystem.h