frc::Transform2d Class Reference

Represents a transformation for a Pose2d in the pose's frame. More...

#include <frc/geometry/Transform2d.h>

Public Member Functions
constexpr	Transform2d (const Pose2d &initial, const Pose2d &final)
	Constructs the transform that maps the initial pose to the final pose.
constexpr	Transform2d (Translation2d translation, Rotation2d rotation)
	Constructs a transform with the given translation and rotation components.
constexpr	Transform2d (units::meter_t x, units::meter_t y, Rotation2d rotation)
	Constructs a transform with x and y translations instead of a separate Translation2d.
constexpr	Transform2d (const Eigen::Matrix3d &matrix)
	Constructs a pose with the specified affine transformation matrix.
constexpr	Transform2d ()=default
	Constructs the identity transform – maps an initial pose to itself.
constexpr const Translation2d &	Translation () const
	Returns the translation component of the transformation.
constexpr units::meter_t	X () const
	Returns the X component of the transformation's translation.
constexpr units::meter_t	Y () const
	Returns the Y component of the transformation's translation.
constexpr Eigen::Matrix3d	ToMatrix () const
	Returns an affine transformation matrix representation of this transformation.
constexpr const Rotation2d &	Rotation () const
	Returns the rotational component of the transformation.
constexpr Transform2d	Inverse () const
	Invert the transformation.
constexpr Transform2d	operator* (double scalar) const
	Multiplies the transform by the scalar.
constexpr Transform2d	operator/ (double scalar) const
	Divides the transform by the scalar.
constexpr Transform2d	operator+ (const Transform2d &other) const
	Composes two transformations.
constexpr bool	operator== (const Transform2d &) const =default
	Checks equality between this Transform2d and another object.

Detailed Description

Represents a transformation for a Pose2d in the pose's frame.

Constructor & Destructor Documentation

Transform2d() [1/5]

frc::Transform2d::Transform2d ( const Pose2d & initial, const Pose2d & final )

constexpr

Constructs the transform that maps the initial pose to the final pose.

Parameters

initial	The initial pose for the transformation.
final	The final pose for the transformation.

Transform2d() [2/5]

frc::Transform2d::Transform2d ( Translation2d translation, Rotation2d rotation )

inlineconstexpr

Constructs a transform with the given translation and rotation components.

Parameters

translation	Translational component of the transform.
rotation	Rotational component of the transform.

Transform2d() [3/5]

frc::Transform2d::Transform2d ( units::meter_t x, units::meter_t y, Rotation2d rotation )

inlineconstexpr

Constructs a transform with x and y translations instead of a separate Translation2d.

Parameters

x	The x component of the translational component of the transform.
y	The y component of the translational component of the transform.
rotation	The rotational component of the transform.

Transform2d() [4/5]

frc::Transform2d::Transform2d ( const Eigen::Matrix3d & 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.

Transform2d() [5/5]

frc::Transform2d::Transform2d ( )

constexprdefault

Constructs the identity transform – maps an initial pose to itself.

Member Function Documentation

Inverse()

Transform2d frc::Transform2d::Inverse ( ) const

inlineconstexpr

Invert the transformation.

This is useful for undoing a transformation.

Returns

The inverted transformation.

operator*()

Transform2d frc::Transform2d::operator* ( double scalar ) const

inlineconstexpr

Multiplies the transform by the scalar.

Parameters

scalar

The scalar.

Returns

The scaled Transform2d.

operator+()

Transform2d frc::Transform2d::operator+ ( const Transform2d & other ) const

constexpr

Composes two transformations.

The second transform is applied relative to the orientation of the first.

Parameters

other

The transform to compose with this one.

Returns

The composition of the two transformations.

operator/()

Transform2d frc::Transform2d::operator/ ( double scalar ) const

inlineconstexpr

Divides the transform by the scalar.

Parameters

scalar

The scalar.

Returns

The scaled Transform2d.

operator==()

bool frc::Transform2d::operator== ( const Transform2d & ) const

constexprdefault

Checks equality between this Transform2d and another object.

Rotation()

const Rotation2d & frc::Transform2d::Rotation ( ) const

inlineconstexpr

Returns the rotational component of the transformation.

Returns

Reference to the rotational component of the transform.

ToMatrix()

Eigen::Matrix3d frc::Transform2d::ToMatrix ( ) const

inlineconstexpr

Returns an affine transformation matrix representation of this transformation.

Translation()

const Translation2d & frc::Transform2d::Translation ( ) const

inlineconstexpr

Returns the translation component of the transformation.

Returns

Reference to the translational component of the transform.

X()

units::meter_t frc::Transform2d::X ( ) const

inlineconstexpr

Returns the X component of the transformation's translation.

Returns

The x component of the transformation's translation.

Y()

units::meter_t frc::Transform2d::Y ( ) const

inlineconstexpr

Returns the Y component of the transformation's translation.

Returns

The y component of the transformation's translation.

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

• frc/geometry/Transform2d.h