Represents a 3D pose containing translational and rotational elements.
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#include <frc/geometry/Pose3d.h>
Represents a 3D pose containing translational and rotational elements.
◆ Pose3d() [1/4]
| constexpr frc::Pose3d::Pose3d |
( |
| ) |
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constexprdefault |
Constructs a pose at the origin facing toward the positive X axis.
◆ Pose3d() [2/4]
Constructs a pose with the specified translation and rotation.
- Parameters
-
| translation | The translational component of the pose. |
| rotation | The rotational component of the pose. |
◆ Pose3d() [3/4]
| frc::Pose3d::Pose3d |
( |
units::meter_t |
x, |
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units::meter_t |
y, |
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units::meter_t |
z, |
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Rotation3d |
rotation |
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) |
| |
Constructs a pose with x, y, and z translations instead of a separate Translation3d.
- Parameters
-
| x | The x component of the translational component of the pose. |
| y | The y component of the translational component of the pose. |
| z | The z component of the translational component of the pose. |
| rotation | The rotational component of the pose. |
◆ Pose3d() [4/4]
| frc::Pose3d::Pose3d |
( |
const Pose2d & |
pose | ) |
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|
explicit |
Constructs a 3D pose from a 2D pose in the X-Y plane.
- Parameters
-
◆ Exp()
Obtain a new Pose3d from a (constant curvature) velocity.
The twist is a change in pose in the robot's coordinate frame since the previous pose update. When the user runs exp() on the previous known field-relative pose with the argument being the twist, the user will receive the new field-relative pose.
"Exp" represents the pose exponential, which is solving a differential equation moving the pose forward in time.
- Parameters
-
| twist | The change in pose in the robot's coordinate frame since the previous pose update. For example, if a non-holonomic robot moves forward 0.01 meters and changes angle by 0.5 degrees since the previous pose update, the twist would be Twist3d{0.01_m, 0_m, 0_m, Rotation3d{0.0, 0.0, 0.5_deg}}. |
- Returns
- The new pose of the robot.
◆ Log()
Returns a Twist3d that maps this pose to the end pose.
If c is the output of a.Log(b), then a.Exp(c) would yield b.
- Parameters
-
| end | The end pose for the transformation. |
- Returns
- The twist that maps this to end.
◆ operator*()
| Pose3d frc::Pose3d::operator* |
( |
double |
scalar | ) |
const |
Multiplies the current pose by a scalar.
- Parameters
-
- Returns
- The new scaled Pose2d.
◆ operator+()
Transforms the pose by the given transformation and returns the new transformed pose.
The transform is applied relative to the pose's frame. Note that this differs from Pose3d::RotateBy(const Rotation3d&), which is applied relative to the global frame and around the origin.
- Parameters
-
| other | The transform to transform the pose by. |
- Returns
- The transformed pose.
◆ operator-()
Returns the Transform3d that maps the one pose to another.
- Parameters
-
| other | The initial pose of the transformation. |
- Returns
- The transform that maps the other pose to the current pose.
◆ operator/()
| Pose3d frc::Pose3d::operator/ |
( |
double |
scalar | ) |
const |
Divides the current pose by a scalar.
- Parameters
-
- Returns
- The new scaled Pose2d.
◆ operator==()
| bool frc::Pose3d::operator== |
( |
const Pose3d & |
| ) |
const |
|
default |
Checks equality between this Pose3d and another object.
◆ RelativeTo()
| Pose3d frc::Pose3d::RelativeTo |
( |
const Pose3d & |
other | ) |
const |
Returns the current pose relative to the given pose.
This function can often be used for trajectory tracking or pose stabilization algorithms to get the error between the reference and the current pose.
- Parameters
-
| other | The pose that is the origin of the new coordinate frame that the current pose will be converted into. |
- Returns
- The current pose relative to the new origin pose.
◆ RotateBy()
Rotates the pose around the origin and returns the new pose.
- Parameters
-
| other | The rotation to transform the pose by, which is applied extrinsically (from the global frame). |
- Returns
- The rotated pose.
◆ Rotation()
| const Rotation3d & frc::Pose3d::Rotation |
( |
| ) |
const |
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inline |
Returns the underlying rotation.
- Returns
- Reference to the rotational component of the pose.
◆ ToPose2d()
| Pose2d frc::Pose3d::ToPose2d |
( |
| ) |
const |
Returns a Pose2d representing this Pose3d projected into the X-Y plane.
◆ TransformBy()
Transforms the pose by the given transformation and returns the new transformed pose.
The transform is applied relative to the pose's frame. Note that this differs from Pose3d::RotateBy(const Rotation3d&), which is applied relative to the global frame and around the origin.
- Parameters
-
| other | The transform to transform the pose by. |
- Returns
- The transformed pose.
◆ Translation()
Returns the underlying translation.
- Returns
- Reference to the translational component of the pose.
◆ X()
| units::meter_t frc::Pose3d::X |
( |
| ) |
const |
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inline |
Returns the X component of the pose's translation.
- Returns
- The x component of the pose's translation.
◆ Y()
| units::meter_t frc::Pose3d::Y |
( |
| ) |
const |
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inline |
Returns the Y component of the pose's translation.
- Returns
- The y component of the pose's translation.
◆ Z()
| units::meter_t frc::Pose3d::Z |
( |
| ) |
const |
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inline |
Returns the Z component of the pose's translation.
- Returns
- The z component of the pose's translation.
The documentation for this class was generated from the following file:
1.9.4