Represents a translation in 2D space. More...

#include <frc/geometry/Translation2d.h>

Public Member Functions
constexpr	Translation2d ()=default
	Constructs a Translation2d with X and Y components equal to zero. More...

constexpr	Translation2d (units::meter_t x, units::meter_t y)
	Constructs a Translation2d with the X and Y components equal to the provided values. More...

constexpr	Translation2d (units::meter_t distance, const Rotation2d &angle)
	Constructs a Translation2d with the provided distance and angle. More...

	Translation2d (const Eigen::Vector2d &vector)
	Constructs a Translation2d from the provided translation vector's X and Y components. More...

units::meter_t	Distance (const Translation2d &other) const
	Calculates the distance between two translations in 2D space. More...

constexpr units::meter_t	X () const
	Returns the X component of the translation. More...

constexpr units::meter_t	Y () const
	Returns the Y component of the translation. More...

constexpr Eigen::Vector2d	ToVector () const
	Returns a vector representation of this translation. More...

units::meter_t	Norm () const
	Returns the norm, or distance from the origin to the translation. More...

constexpr Rotation2d	Angle () const
	Returns the angle this translation forms with the positive X axis. More...

constexpr Translation2d	RotateBy (const Rotation2d &other) const
	Applies a rotation to the translation in 2D space. More...

constexpr Translation2d	operator+ (const Translation2d &other) const
	Returns the sum of two translations in 2D space. More...

constexpr Translation2d	operator- (const Translation2d &other) const
	Returns the difference between two translations. More...

constexpr Translation2d	operator- () const
	Returns the inverse of the current translation. More...

constexpr Translation2d	operator* (double scalar) const
	Returns the translation multiplied by a scalar. More...

constexpr Translation2d	operator/ (double scalar) const
	Returns the translation divided by a scalar. More...

bool	operator== (const Translation2d &other) const
	Checks equality between this Translation2d and another object. More...

Translation2d	Nearest (std::span< const Translation2d > translations) const
	Returns the nearest Translation2d from a collection of translations. More...

Translation2d	Nearest (std::initializer_list< Translation2d > translations) const
	Returns the nearest Translation2d from a collection of translations. More...

Detailed Description

Represents a translation in 2D space.

This object can be used to represent a point or a vector.

This assumes that you are using conventional mathematical axes. When the robot is at the origin facing in the positive X direction, forward is positive X and left is positive Y.

Constructor & Destructor Documentation

◆ Translation2d() [1/4]

constexpr frc::Translation2d::Translation2d ( )

constexprdefault

Constructs a Translation2d with X and Y components equal to zero.

◆ Translation2d() [2/4]

constexpr frc::Translation2d::Translation2d	(	units::meter_t	x,
		units::meter_t	y
	)

constexpr

Constructs a Translation2d with the X and Y components equal to the provided values.

Parameters

x	The x component of the translation.
y	The y component of the translation.

◆ Translation2d() [3/4]

constexpr frc::Translation2d::Translation2d	(	units::meter_t	distance,
		const Rotation2d &	angle
	)

constexpr

Constructs a Translation2d with the provided distance and angle.

This is essentially converting from polar coordinates to Cartesian coordinates.

Parameters

distance	The distance from the origin to the end of the translation.
angle	The angle between the x-axis and the translation vector.

◆ Translation2d() [4/4]

frc::Translation2d::Translation2d ( const Eigen::Vector2d & vector )

explicit

Constructs a Translation2d from the provided translation vector's X and Y components.

The values are assumed to be in meters.

Parameters

vector The translation vector to represent.

Member Function Documentation

◆ Angle()

constexpr Rotation2d frc::Translation2d::Angle ( ) const

constexpr

Returns the angle this translation forms with the positive X axis.

Returns: The angle of the translation

◆ Distance()

units::meter_t frc::Translation2d::Distance ( const Translation2d & other ) const

Calculates the distance between two translations in 2D space.

The distance between translations is defined as √((x₂−x₁)²+(y₂−y₁)²).

Parameters

other The translation to compute the distance to.

Returns: The distance between the two translations.

◆ Nearest() [1/2]

Translation2d frc::Translation2d::Nearest ( std::initializer_list< Translation2d > translations ) const

Returns the nearest Translation2d from a collection of translations.

Parameters

translations The collection of translations.

Returns: The nearest Translation2d from the collection.

◆ Nearest() [2/2]

Translation2d frc::Translation2d::Nearest ( std::span< const Translation2d > translations ) const

Returns the nearest Translation2d from a collection of translations.

Parameters

translations The collection of translations.

Returns: The nearest Translation2d from the collection.

◆ Norm()

units::meter_t frc::Translation2d::Norm ( ) const

Returns the norm, or distance from the origin to the translation.

Returns: The norm of the translation.

◆ operator*()

constexpr Translation2d frc::Translation2d::operator* ( double scalar ) const

constexpr

Returns the translation multiplied by a scalar.

For example, Translation2d{2.0, 2.5} * 2 = Translation2d{4.0, 5.0}.

Parameters

scalar The scalar to multiply by.

Returns: The scaled translation.

◆ operator+()

constexpr Translation2d frc::Translation2d::operator+ ( const Translation2d & other ) const

constexpr

Returns the sum of two translations in 2D space.

For example, Translation3d{1.0, 2.5} + Translation3d{2.0, 5.5} = Translation3d{3.0, 8.0}.

Parameters

other The translation to add.

Returns: The sum of the translations.

◆ operator-() [1/2]

constexpr Translation2d frc::Translation2d::operator- ( ) const

constexpr

Returns the inverse of the current translation.

This is equivalent to rotating by 180 degrees, flipping the point over both axes, or negating all components of the translation.

Returns: The inverse of the current translation.

◆ operator-() [2/2]

constexpr Translation2d frc::Translation2d::operator- ( const Translation2d & other ) const

constexpr

Returns the difference between two translations.

For example, Translation2d{5.0, 4.0} - Translation2d{1.0, 2.0} = Translation2d{4.0, 2.0}.

Parameters

other The translation to subtract.

Returns: The difference between the two translations.

◆ operator/()

constexpr Translation2d frc::Translation2d::operator/ ( double scalar ) const

constexpr

Returns the translation divided by a scalar.

For example, Translation2d{2.0, 2.5} / 2 = Translation2d{1.0, 1.25}.

Parameters

scalar The scalar to divide by.

Returns: The scaled translation.

◆ operator==()

bool frc::Translation2d::operator== ( const Translation2d & other ) const

Checks equality between this Translation2d and another object.

Parameters

other The other object.

Returns: Whether the two objects are equal.

◆ RotateBy()

constexpr Translation2d frc::Translation2d::RotateBy ( const Rotation2d & other ) const

constexpr

Applies a rotation to the translation in 2D space.

This multiplies the translation vector by a counterclockwise rotation matrix of the given angle.

[x_new]   [other.cos, -other.sin][x]
[y_new] = [other.sin,  other.cos][y]

For example, rotating a Translation2d of <2, 0> by 90 degrees will return a Translation2d of <0, 2>.

Parameters

other The rotation to rotate the translation by.

Returns: The new rotated translation.

◆ ToVector()

constexpr Eigen::Vector2d frc::Translation2d::ToVector ( ) const

constexpr

Returns a vector representation of this translation.

Returns: A Vector representation of this translation.

◆ X()

constexpr units::meter_t frc::Translation2d::X ( ) const

inlineconstexpr

Returns the X component of the translation.

Returns: The X component of the translation.

◆ Y()

constexpr units::meter_t frc::Translation2d::Y ( ) const

inlineconstexpr

Returns the Y component of the translation.

Returns: The Y component of the translation.

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

frc/geometry/Translation2d.h
frc/geometry/Translation2d.inc

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Translation2d() [1/4]

◆ Translation2d() [2/4]

◆ Translation2d() [3/4]

◆ Translation2d() [4/4]

Member Function Documentation

◆ Angle()

◆ Distance()

◆ Nearest() [1/2]

◆ Nearest() [2/2]

◆ Norm()

◆ operator*()

◆ operator+()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator/()

◆ operator==()

◆ RotateBy()

◆ ToVector()

◆ X()

◆ Y()