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

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

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*()

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

inlineconstexpr

Scale this by a given factor.

Parameters

factor

The factor by which to scale.

Returns

The scaled Twist2d.

operator==()

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

inlineconstexpr

Checks equality between this Twist2d and another object.

Parameters

other

The 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.

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

• frc/geometry/Twist2d.h