WPILibC++ 2024.3.2
frc::Twist2d Struct Reference

A change in distance along a 2D arc since the last pose update. More...

#include <frc/geometry/Twist2d.h>

Public Member Functions

bool operator== (const Twist2d &other) const
 Checks equality between this Twist2d and another object. More...
 
constexpr Twist2d operator* (double factor) const
 Scale this by a given factor. More...
 

Public Attributes

units::meter_t dx = 0_m
 Linear "dx" component. More...
 
units::meter_t dy = 0_m
 Linear "dy" component. More...
 
units::radian_t dtheta = 0_rad
 Angular "dtheta" component (radians) More...
 

Detailed Description

A change in distance along a 2D arc since the last pose update.

We can use ideas from differential calculus to create new Pose2ds from a Twist2d and vice versa.

A Twist can be used to represent a difference between two poses.

Member Function Documentation

◆ operator*()

constexpr Twist2d frc::Twist2d::operator* ( double  factor) const
inlineconstexpr

Scale this by a given factor.

Parameters
factorThe factor by which to scale.
Returns
The scaled Twist2d.

◆ operator==()

bool frc::Twist2d::operator== ( const Twist2d other) const
inline

Checks equality between this Twist2d and another object.

Parameters
otherThe other object.
Returns
Whether the two objects are equal.

Member Data Documentation

◆ dtheta

units::radian_t frc::Twist2d::dtheta = 0_rad

Angular "dtheta" component (radians)

◆ dx

units::meter_t frc::Twist2d::dx = 0_m

Linear "dx" component.

◆ dy

units::meter_t frc::Twist2d::dy = 0_m

Linear "dy" component.


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