Represents a translation in 3D space. More...

#include <frc/geometry/Translation3d.h>

Public Member Functions
constexpr	Translation3d ()=default
	Constructs a Translation3d with X, Y, and Z components equal to zero. More...

constexpr	Translation3d (units::meter_t x, units::meter_t y, units::meter_t z)
	Constructs a Translation3d with the X, Y, and Z components equal to the provided values. More...

	Translation3d (units::meter_t distance, const Rotation3d &angle)
	Constructs a Translation3d with the provided distance and angle. More...

	Translation3d (const Eigen::Vector3d &vector)
	Constructs a Translation3d from the provided translation vector's X, Y, and Z components. More...

units::meter_t	Distance (const Translation3d &other) const
	Calculates the distance between two translations in 3D 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 units::meter_t	Z () const
	Returns the Z component of the translation. More...

constexpr Eigen::Vector3d	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...

Translation3d	RotateBy (const Rotation3d &other) const
	Applies a rotation to the translation in 3D space. More...

constexpr Translation2d	ToTranslation2d () const
	Returns a Translation2d representing this Translation3d projected into the X-Y plane. More...

constexpr Translation3d	operator+ (const Translation3d &other) const
	Returns the sum of two translations in 3D space. More...

constexpr Translation3d	operator- (const Translation3d &other) const
	Returns the difference between two translations. More...

constexpr Translation3d	operator- () const
	Returns the inverse of the current translation. More...

constexpr Translation3d	operator* (double scalar) const
	Returns the translation multiplied by a scalar. More...

constexpr Translation3d	operator/ (double scalar) const
	Returns the translation divided by a scalar. More...

bool	operator== (const Translation3d &other) const
	Checks equality between this Translation3d and another object. More...

Detailed Description

Represents a translation in 3D 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, left is positive Y, and up is positive Z.

Constructor & Destructor Documentation

◆ Translation3d() [1/4]

constexpr frc::Translation3d::Translation3d ( )

constexprdefault

Constructs a Translation3d with X, Y, and Z components equal to zero.

◆ Translation3d() [2/4]

constexpr frc::Translation3d::Translation3d	(	units::meter_t	x,
		units::meter_t	y,
		units::meter_t	z
	)

constexpr

Constructs a Translation3d with the X, Y, and Z components equal to the provided values.

Parameters

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

◆ Translation3d() [3/4]

frc::Translation3d::Translation3d	(	units::meter_t	distance,
		const Rotation3d &	angle
	)

Constructs a Translation3d 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.

◆ Translation3d() [4/4]

frc::Translation3d::Translation3d ( const Eigen::Vector3d & vector )

explicit

Constructs a Translation3d from the provided translation vector's X, Y, and Z components.

The values are assumed to be in meters.

Parameters

vector The translation vector to represent.

Member Function Documentation

◆ Distance()

units::meter_t frc::Translation3d::Distance ( const Translation3d & other ) const

Calculates the distance between two translations in 3D space.

The distance between translations is defined as √((x₂−x₁)²+(y₂−y₁)²+(z₂−z₁)²).

Parameters

other The translation to compute the distance to.

Returns: The distance between the two translations.

◆ Norm()

units::meter_t frc::Translation3d::Norm ( ) const

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

Returns: The norm of the translation.

◆ operator*()

constexpr Translation3d frc::Translation3d::operator* ( double scalar ) const

constexpr

Returns the translation multiplied by a scalar.

For example, Translation3d{2.0, 2.5, 4.5} * 2 = Translation3d{4.0, 5.0, 9.0}.

Parameters

scalar The scalar to multiply by.

Returns: The scaled translation.

◆ operator+()

constexpr Translation3d frc::Translation3d::operator+ ( const Translation3d & other ) const

constexpr

Returns the sum of two translations in 3D space.

For example, Translation3d{1.0, 2.5, 3.5} + Translation3d{2.0, 5.5, 7.5} = Translation3d{3.0, 8.0, 11.0}.

Parameters

other The translation to add.

Returns: The sum of the translations.

◆ operator-() [1/2]

constexpr Translation3d frc::Translation3d::operator- ( ) const

constexpr

Returns the inverse of the current translation.

This is equivalent to negating all components of the translation.

Returns: The inverse of the current translation.

◆ operator-() [2/2]

constexpr Translation3d frc::Translation3d::operator- ( const Translation3d & other ) const

constexpr

Returns the difference between two translations.

For example, Translation3d{5.0, 4.0, 3.0} - Translation3d{1.0, 2.0, 3.0} = Translation3d{4.0, 2.0, 0.0}.

Parameters

other The translation to subtract.

Returns: The difference between the two translations.

◆ operator/()

constexpr Translation3d frc::Translation3d::operator/ ( double scalar ) const

constexpr

Returns the translation divided by a scalar.

For example, Translation3d{2.0, 2.5, 4.5} / 2 = Translation3d{1.0, 1.25, 2.25}.

Parameters

scalar The scalar to divide by.

Returns: The scaled translation.

◆ operator==()

bool frc::Translation3d::operator== ( const Translation3d & other ) const

Checks equality between this Translation3d and another object.

Parameters

other The other object.

Returns: Whether the two objects are equal.

◆ RotateBy()

Translation3d frc::Translation3d::RotateBy ( const Rotation3d & other ) const

Applies a rotation to the translation in 3D space.

For example, rotating a Translation3d of <2, 0, 0> by 90 degrees around the Z axis will return a Translation3d of <0, 2, 0>.

Parameters

other The rotation to rotate the translation by.

Returns: The new rotated translation.

◆ ToTranslation2d()

constexpr Translation2d frc::Translation3d::ToTranslation2d ( ) const

constexpr

Returns a Translation2d representing this Translation3d projected into the X-Y plane.

◆ ToVector()

constexpr Eigen::Vector3d frc::Translation3d::ToVector ( ) const

constexpr

Returns a vector representation of this translation.

Returns: A Vector representation of this translation.

◆ X()

constexpr units::meter_t frc::Translation3d::X ( ) const

inlineconstexpr

Returns the X component of the translation.

Returns: The Z component of the translation.

◆ Y()

constexpr units::meter_t frc::Translation3d::Y ( ) const

inlineconstexpr

Returns the Y component of the translation.

Returns: The Y component of the translation.

◆ Z()

constexpr units::meter_t frc::Translation3d::Z ( ) const

inlineconstexpr

Returns the Z component of the translation.

Returns: The Z component of the translation.

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

frc/geometry/Translation3d.h
frc/geometry/Translation3d.inc

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Translation3d() [1/4]

◆ Translation3d() [2/4]

◆ Translation3d() [3/4]

◆ Translation3d() [4/4]

Member Function Documentation

◆ Distance()

◆ Norm()

◆ operator*()

◆ operator+()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator/()

◆ operator==()

◆ RotateBy()

◆ ToTranslation2d()

◆ ToVector()

◆ X()

◆ Y()

◆ Z()