frc::Pose3d Class Reference

Represents a 3D pose containing translational and rotational elements. More...

#include <frc/geometry/Pose3d.h>

Public Member Functions
constexpr	Pose3d ()=default
	Constructs a pose at the origin facing toward the positive X axis.
constexpr	Pose3d (Translation3d translation, Rotation3d rotation)
	Constructs a pose with the specified translation and rotation.
constexpr	Pose3d (units::meter_t x, units::meter_t y, units::meter_t z, Rotation3d rotation)
	Constructs a pose with x, y, and z translations instead of a separate Translation3d.
constexpr	Pose3d (const Eigen::Matrix4d &matrix)
	Constructs a pose with the specified affine transformation matrix.
constexpr	Pose3d (const Pose2d &pose)
	Constructs a 3D pose from a 2D pose in the X-Y plane.
constexpr Pose3d	operator+ (const Transform3d &other) const
	Transforms the pose by the given transformation and returns the new transformed pose.
constexpr Transform3d	operator- (const Pose3d &other) const
	Returns the Transform3d that maps the one pose to another.
constexpr bool	operator== (const Pose3d &) const =default
	Checks equality between this Pose3d and another object.
constexpr const Translation3d &	Translation () const
	Returns the underlying translation.
constexpr units::meter_t	X () const
	Returns the X component of the pose's translation.
constexpr units::meter_t	Y () const
	Returns the Y component of the pose's translation.
constexpr units::meter_t	Z () const
	Returns the Z component of the pose's translation.
constexpr const Rotation3d &	Rotation () const
	Returns the underlying rotation.
constexpr Pose3d	operator* (double scalar) const
	Multiplies the current pose by a scalar.
constexpr Pose3d	operator/ (double scalar) const
	Divides the current pose by a scalar.
constexpr Pose3d	RotateBy (const Rotation3d &other) const
	Rotates the pose around the origin and returns the new pose.
constexpr Pose3d	TransformBy (const Transform3d &other) const
	Transforms the pose by the given transformation and returns the new transformed pose.
constexpr Pose3d	RelativeTo (const Pose3d &other) const
	Returns the current pose relative to the given pose.
constexpr Pose3d	RotateAround (const Translation3d &point, const Rotation3d &rot) const
	Rotates the current pose around a point in 3D space.
constexpr Pose3d	Exp (const Twist3d &twist) const
	Obtain a new Pose3d from a (constant curvature) velocity.
constexpr Twist3d	Log (const Pose3d &end) const
	Returns a Twist3d that maps this pose to the end pose.
constexpr Eigen::Matrix4d	ToMatrix () const
	Returns an affine transformation matrix representation of this pose.
constexpr Pose2d	ToPose2d () const
	Returns a Pose2d representing this Pose3d projected into the X-Y plane.

Detailed Description

Represents a 3D pose containing translational and rotational elements.

Constructor & Destructor Documentation

Pose3d() [1/5]

frc::Pose3d::Pose3d ( )

constexprdefault

Constructs a pose at the origin facing toward the positive X axis.

Pose3d() [2/5]

frc::Pose3d::Pose3d ( Translation3d translation, Rotation3d rotation )

inlineconstexpr

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() [3/5]

frc::Pose3d::Pose3d ( units::meter_t x, units::meter_t y, units::meter_t z, Rotation3d rotation )

inlineconstexpr

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() [4/5]

frc::Pose3d::Pose3d ( const Eigen::Matrix4d & matrix )

inlineexplicitconstexpr

Constructs a pose with the specified affine transformation matrix.

Parameters

matrix

The affine transformation matrix.

Throws:

std::domain_error if the affine transformation matrix is invalid.

Pose3d() [5/5]

frc::Pose3d::Pose3d ( const Pose2d & pose )

inlineexplicitconstexpr

Constructs a 3D pose from a 2D pose in the X-Y plane.

Parameters

pose	The 2D pose.

See also

Rotation3d(Rotation2d)

Translation3d(Translation2d)

Member Function Documentation

Exp()

Pose3d frc::Pose3d::Exp ( const Twist3d & twist ) const

constexpr

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()

Twist3d frc::Pose3d::Log ( const Pose3d & end ) const

constexpr

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

inlineconstexpr

Multiplies the current pose by a scalar.

Parameters

scalar

The scalar.

Returns

The new scaled Pose2d.

operator+()

Pose3d frc::Pose3d::operator+ ( const Transform3d & other ) const

inlineconstexpr

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-()

Transform3d frc::Pose3d::operator- ( const Pose3d & other ) const

constexpr

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

inlineconstexpr

Divides the current pose by a scalar.

Parameters

scalar

The scalar.

Returns

The new scaled Pose2d.

operator==()

bool frc::Pose3d::operator== ( const Pose3d & ) const

constexprdefault

Checks equality between this Pose3d and another object.

RelativeTo()

Pose3d frc::Pose3d::RelativeTo ( const Pose3d & other ) const

constexpr

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.

RotateAround()

Pose3d frc::Pose3d::RotateAround ( const Translation3d & point, const Rotation3d & rot ) const

inlineconstexpr

Rotates the current pose around a point in 3D space.

Parameters

point	The point in 3D space to rotate around.
rot	The rotation to rotate the pose by.

Returns

The new rotated pose.

RotateBy()

Pose3d frc::Pose3d::RotateBy ( const Rotation3d & other ) const

inlineconstexpr

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

inlineconstexpr

Returns the underlying rotation.

Returns

Reference to the rotational component of the pose.

ToMatrix()

Eigen::Matrix4d frc::Pose3d::ToMatrix ( ) const

inlineconstexpr

Returns an affine transformation matrix representation of this pose.

ToPose2d()

Pose2d frc::Pose3d::ToPose2d ( ) const

inlineconstexpr

Returns a Pose2d representing this Pose3d projected into the X-Y plane.

TransformBy()

Pose3d frc::Pose3d::TransformBy ( const Transform3d & other ) const

constexpr

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()

const Translation3d & frc::Pose3d::Translation ( ) const

inlineconstexpr

Returns the underlying translation.

Returns

Reference to the translational component of the pose.

X()

units::meter_t frc::Pose3d::X ( ) const

inlineconstexpr

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

inlineconstexpr

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

inlineconstexpr

Returns the Z component of the pose's translation.

Returns

The z component of the pose's translation.

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

• frc/geometry/Pose3d.h