WPILibC++ 2024.3.2
frc::Twist3d Struct Reference

A change in distance along a 3D arc since the last pose update. More...

#include <frc/geometry/Twist3d.h>

Public Member Functions

bool operator== (const Twist3d &other) const
 Checks equality between this Twist3d and another object. More...
 
constexpr Twist3d 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::meter_t dz = 0_m
 Linear "dz" component. More...
 
units::radian_t rx = 0_rad
 Rotation vector x component. More...
 
units::radian_t ry = 0_rad
 Rotation vector y component. More...
 
units::radian_t rz = 0_rad
 Rotation vector z component. More...
 

Detailed Description

A change in distance along a 3D arc since the last pose update.

We can use ideas from differential calculus to create new Pose3ds from a Twist3d and vice versa.

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

Member Function Documentation

◆ operator*()

constexpr Twist3d frc::Twist3d::operator* ( double  factor) const
inlineconstexpr

Scale this by a given factor.

Parameters
factorThe factor by which to scale.
Returns
The scaled Twist3d.

◆ operator==()

bool frc::Twist3d::operator== ( const Twist3d other) const
inline

Checks equality between this Twist3d and another object.

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

Member Data Documentation

◆ dx

units::meter_t frc::Twist3d::dx = 0_m

Linear "dx" component.

◆ dy

units::meter_t frc::Twist3d::dy = 0_m

Linear "dy" component.

◆ dz

units::meter_t frc::Twist3d::dz = 0_m

Linear "dz" component.

◆ rx

units::radian_t frc::Twist3d::rx = 0_rad

Rotation vector x component.

◆ ry

units::radian_t frc::Twist3d::ry = 0_rad

Rotation vector y component.

◆ rz

units::radian_t frc::Twist3d::rz = 0_rad

Rotation vector z component.


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