WPILibC++ 2024.3.2
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 Translation3dTranslation () 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 Rotation3dRotation () 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
initialThe initial pose for the transformation.
finalThe 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
translationTranslational component of the transform.
rotationRotational 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
xThe x component of the translational component of the transform.
yThe y component of the translational component of the transform.
zThe z component of the translational component of the transform.
rotationThe 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
scalarThe 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
otherThe 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
scalarThe 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.

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