frc::Transform3d Class Reference

Represents a transformation for a Pose3d in the pose's frame. More...

#include <frc/geometry/Transform3d.h>

Public Member Functions
	Transform3d (Pose3d initial, Pose3d final)
	Constructs the transform that maps the initial pose to the final pose. More...
	Transform3d (Translation3d translation, Rotation3d rotation)
	Constructs a transform with the given translation and rotation components. More...
	Transform3d (units::meter_t x, units::meter_t y, units::meter_t z, Rotation3d rotation)
	Constructs a transform with x, y, and z translations instead of a separate Translation3d. More...
constexpr	Transform3d ()=default
	Constructs the identity transform – maps an initial pose to itself. More...
const Translation3d &	Translation () const
	Returns the translation component of the transformation. More...
units::meter_t	X () const
	Returns the X component of the transformation's translation. More...
units::meter_t	Y () const
	Returns the Y component of the transformation's translation. More...
units::meter_t	Z () const
	Returns the Z component of the transformation's translation. More...
const Rotation3d &	Rotation () const
	Returns the rotational component of the transformation. More...
Transform3d	Inverse () const
	Invert the transformation. More...
Transform3d	operator* (double scalar) const
	Multiplies the transform by the scalar. More...
Transform3d	operator/ (double scalar) const
	Divides the transform by the scalar. More...
Transform3d	operator+ (const Transform3d &other) const
	Composes two transformations. More...
bool	operator== (const Transform3d &) const =default
	Checks equality between this Transform3d and another object. More...

Detailed Description

Represents a transformation for a Pose3d in the pose's frame.

Constructor & Destructor Documentation

Transform3d() [1/4]

frc::Transform3d::Transform3d	(	Pose3d	initial,
		Pose3d	final
	)

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.

Transform3d() [2/4]

frc::Transform3d::Transform3d	(	Translation3d	translation,
		Rotation3d	rotation
	)

Constructs a transform with the given translation and rotation components.

Parameters

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

Transform3d() [3/4]

frc::Transform3d::Transform3d	(	units::meter_t	x,
		units::meter_t	y,
		units::meter_t	z,
		Rotation3d	rotation
	)

Constructs a transform with x, y, and z translations instead of a separate Translation3d.

Parameters

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

Transform3d() [4/4]

constexpr frc::Transform3d::Transform3d ( )

constexprdefault

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

Member Function Documentation

Inverse()

Transform3d frc::Transform3d::Inverse

(

)

const

Invert the transformation.

This is useful for undoing a transformation.

Returns

The inverted transformation.

operator*()

Transform3d frc::Transform3d::operator* ( double  scalar ) const

inline

Multiplies the transform by the scalar.

Parameters

scalar

The scalar.

Returns

The scaled Transform3d.

operator+()

Transform3d frc::Transform3d::operator+

(

const Transform3d &

other

)

const

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/()

Transform3d frc::Transform3d::operator/ ( double  scalar ) const

inline

Divides the transform by the scalar.

Parameters

scalar

The scalar.

Returns

The scaled Transform3d.

operator==()

bool frc::Transform3d::operator== ( const Transform3d &  ) const

default

Checks equality between this Transform3d and another object.

Rotation()

const Rotation3d & frc::Transform3d::Rotation ( ) const

inline

Returns the rotational component of the transformation.

Returns

Reference to the rotational component of the transform.

Translation()

const Translation3d & frc::Transform3d::Translation ( ) const

inline

Returns the translation component of the transformation.

Returns

Reference to the translational component of the transform.

X()

units::meter_t frc::Transform3d::X ( ) const

inline

Returns the X component of the transformation's translation.

Returns

The x component of the transformation's translation.

Y()

units::meter_t frc::Transform3d::Y ( ) const

inline

Returns the Y component of the transformation's translation.

Returns

The y component of the transformation's translation.

Z()

units::meter_t frc::Transform3d::Z ( ) const

inline

Returns the Z component of the transformation's translation.

Returns

The z component of the transformation's translation.

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

• frc/geometry/Transform3d.h