frc::Rectangle2d Class Reference

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

#include <frc/geometry/Rectangle2d.h>

Public Member Functions
constexpr	Rectangle2d (const Pose2d &center, units::meter_t xWidth, units::meter_t yWidth)
	Constructs a rectangle at the specified position with the specified width and height.
constexpr	Rectangle2d (const Translation2d &cornerA, const Translation2d &cornerB)
	Creates an unrotated rectangle from the given corners.
constexpr const Pose2d &	Center () const
	Returns the center of the rectangle.
constexpr const Rotation2d &	Rotation () const
	Returns the rotational component of the rectangle.
constexpr units::meter_t	XWidth () const
	Returns the x size component of the rectangle.
constexpr units::meter_t	YWidth () const
	Returns the y size component of the rectangle.
constexpr Rectangle2d	TransformBy (const Transform2d &other) const
	Transforms the center of the rectangle and returns the new rectangle.
constexpr Rectangle2d	RotateBy (const Rotation2d &other) const
	Rotates the center of the rectangle and returns the new rectangle.
constexpr bool	Intersects (const Translation2d &point) const
	Checks if a point is intersected by the rectangle's perimeter.
constexpr bool	Contains (const Translation2d &point) const
	Checks if a point is contained within the rectangle.
constexpr units::meter_t	Distance (const Translation2d &point) const
	Returns the distance between the perimeter of the rectangle and the point.
constexpr Translation2d	Nearest (const Translation2d &point) const
	Returns the nearest point that is contained within the rectangle.
constexpr bool	operator== (const Rectangle2d &other) const
	Checks equality between this Rectangle2d and another object.

Detailed Description

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

Constructor & Destructor Documentation

Rectangle2d() [1/2]

frc::Rectangle2d::Rectangle2d ( const Pose2d & center, units::meter_t xWidth, units::meter_t yWidth )

inlineconstexpr

Constructs a rectangle at the specified position with the specified width and height.

Parameters

center	The position (translation and rotation) of the rectangle.
xWidth	The x size component of the rectangle, in unrotated coordinate frame.
yWidth	The y size component of the rectangle, in unrotated coordinate frame.

Rectangle2d() [2/2]

frc::Rectangle2d::Rectangle2d ( const Translation2d & cornerA, const Translation2d & cornerB )

inlineconstexpr

Creates an unrotated rectangle from the given corners.

The corners should be diagonally opposite of each other.

Parameters

cornerA	The first corner of the rectangle.
cornerB	The second corner of the rectangle.

Member Function Documentation

Center()

const Pose2d & frc::Rectangle2d::Center ( ) const

inlineconstexpr

Returns the center of the rectangle.

Returns

The center of the rectangle.

Contains()

bool frc::Rectangle2d::Contains ( const Translation2d & point ) const

inlineconstexpr

Checks if a point is contained within the rectangle.

This is inclusive, if the point lies on the perimeter it will return true.

Parameters

point

The point to check.

Returns

True, if the rectangle contains the point or the perimeter intersects the point.

Distance()

units::meter_t frc::Rectangle2d::Distance ( const Translation2d & point ) const

inlineconstexpr

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

Parameters

point

The point to check.

Returns

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

Intersects()

bool frc::Rectangle2d::Intersects ( const Translation2d & point ) const

inlineconstexpr

Checks if a point is intersected by the rectangle's perimeter.

Parameters

point

The point to check.

Returns

True, if the rectangle's perimeter intersects the point.

Nearest()

Translation2d frc::Rectangle2d::Nearest ( const Translation2d & point ) const

inlineconstexpr

Returns the nearest point that is contained within the rectangle.

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 rectangle.

operator==()

bool frc::Rectangle2d::operator== ( const Rectangle2d & other ) const

inlineconstexpr

Checks equality between this Rectangle2d and another object.

Parameters

other

The other object.

Returns

Whether the two objects are equal.

RotateBy()

Rectangle2d frc::Rectangle2d::RotateBy ( const Rotation2d & other ) const

inlineconstexpr

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

Parameters

other

The rotation to transform by.

Returns

The rotated rectangle.

Rotation()

const Rotation2d & frc::Rectangle2d::Rotation ( ) const

inlineconstexpr

Returns the rotational component of the rectangle.

Returns

The rotational component of the rectangle.

TransformBy()

Rectangle2d frc::Rectangle2d::TransformBy ( const Transform2d & other ) const

inlineconstexpr

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

Parameters

other

The transform to transform by.

Returns

The transformed rectangle

XWidth()

units::meter_t frc::Rectangle2d::XWidth ( ) const

inlineconstexpr

Returns the x size component of the rectangle.

Returns

The x size component of the rectangle.

YWidth()

units::meter_t frc::Rectangle2d::YWidth ( ) const

inlineconstexpr

Returns the y size component of the rectangle.

Returns

The y size component of the rectangle.

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

• frc/geometry/Rectangle2d.h