frc::Ellipse2d Class Reference

Represents a 2d ellipse space containing translational, rotational, and scaling components. More...

#include <frc/geometry/Ellipse2d.h>

Public Member Functions
constexpr	Ellipse2d (const Pose2d &center, units::meter_t xSemiAxis, units::meter_t ySemiAxis)
	Constructs an ellipse around a center point and two semi-axes, a horizontal and vertical one.
constexpr	Ellipse2d (const Translation2d &center, double radius)
	Constructs a perfectly circular ellipse with the specified radius.
constexpr const Pose2d &	Center () const
	Returns the center of the ellipse.
constexpr const Rotation2d &	Rotation () const
	Returns the rotational component of the ellipse.
constexpr units::meter_t	XSemiAxis () const
	Returns the x semi-axis.
constexpr units::meter_t	YSemiAxis () const
	Returns the y semi-axis.
constexpr wpi::array< Translation2d, 2 >	FocalPoints () const
	Returns the focal points of the ellipse.
constexpr Ellipse2d	TransformBy (const Transform2d &other) const
	Transforms the center of the ellipse and returns the new ellipse.
constexpr Ellipse2d	RotateBy (const Rotation2d &other) const
	Rotates the center of the ellipse and returns the new ellipse.
constexpr bool	Intersects (const Translation2d &point) const
	Checks if a point is intersected by this ellipse's circumference.
constexpr bool	Contains (const Translation2d &point) const
	Checks if a point is contained within this ellipse.
units::meter_t	Distance (const Translation2d &point) const
	Returns the distance between the perimeter of the ellipse and the point.
Translation2d	Nearest (const Translation2d &point) const
	Returns the nearest point that is contained within the ellipse.
constexpr bool	operator== (const Ellipse2d &other) const
	Checks equality between this Ellipse2d and another object.

Detailed Description

Represents a 2d ellipse space containing translational, rotational, and scaling components.

Constructor & Destructor Documentation

Ellipse2d() [1/2]

frc::Ellipse2d::Ellipse2d ( const Pose2d & center, units::meter_t xSemiAxis, units::meter_t ySemiAxis )

inlineconstexpr

Constructs an ellipse around a center point and two semi-axes, a horizontal and vertical one.

Parameters

center	The center of the ellipse.
xSemiAxis	The x semi-axis.
ySemiAxis	The y semi-axis.

Ellipse2d() [2/2]

frc::Ellipse2d::Ellipse2d ( const Translation2d & center, double radius )

inlineconstexpr

Constructs a perfectly circular ellipse with the specified radius.

Parameters

center	The center of the circle.
radius	The radius of the circle.

Member Function Documentation

Center()

const Pose2d & frc::Ellipse2d::Center ( ) const

inlineconstexpr

Returns the center of the ellipse.

Returns

The center of the ellipse.

Contains()

bool frc::Ellipse2d::Contains ( const Translation2d & point ) const

inlineconstexpr

Checks if a point is contained within this ellipse.

This is inclusive, if the point lies on the circumference this will return true.

Parameters

point

The point to check.

Returns

True, if the point is within or on the ellipse.

Distance()

units::meter_t frc::Ellipse2d::Distance ( const Translation2d & point ) const

inline

Returns the distance between the perimeter of the ellipse and the point.

Parameters

point

The point to check.

Returns

The distance (0, if the point is contained by the ellipse)

FocalPoints()

wpi::array< Translation2d, 2 > frc::Ellipse2d::FocalPoints ( ) const

inlineconstexpr

Returns the focal points of the ellipse.

In a perfect circle, this will always return the center.

Returns

The focal points.

Intersects()

bool frc::Ellipse2d::Intersects ( const Translation2d & point ) const

inlineconstexpr

Checks if a point is intersected by this ellipse's circumference.

Parameters

point

The point to check.

Returns

True, if this ellipse's circumference intersects the point.

Nearest()

Translation2d frc::Ellipse2d::Nearest

(

const Translation2d &

point

)

const

Returns the nearest point that is contained within the ellipse.

Parameters

point

The point that this will find the nearest point to.

Returns

A new point that is nearest to point and contained in the ellipse.

operator==()

bool frc::Ellipse2d::operator== ( const Ellipse2d & other ) const

inlineconstexpr

Checks equality between this Ellipse2d and another object.

Parameters

other

The other object.

Returns

Whether the two objects are equal.

RotateBy()

Ellipse2d frc::Ellipse2d::RotateBy ( const Rotation2d & other ) const

inlineconstexpr

Rotates the center of the ellipse and returns the new ellipse.

Parameters

other

The rotation to transform by.

Returns

The rotated ellipse.

Rotation()

const Rotation2d & frc::Ellipse2d::Rotation ( ) const

inlineconstexpr

Returns the rotational component of the ellipse.

Returns

The rotational component of the ellipse.

TransformBy()

Ellipse2d frc::Ellipse2d::TransformBy ( const Transform2d & other ) const

inlineconstexpr

Transforms the center of the ellipse and returns the new ellipse.

Parameters

other

The transform to transform by.

Returns

The transformed ellipse.

XSemiAxis()

units::meter_t frc::Ellipse2d::XSemiAxis ( ) const

inlineconstexpr

Returns the x semi-axis.

Returns

The x semi-axis.

YSemiAxis()

units::meter_t frc::Ellipse2d::YSemiAxis ( ) const

inlineconstexpr

Returns the y semi-axis.

Returns

The y semi-axis.

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

• frc/geometry/Ellipse2d.h