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

#include <frc/geometry/Twist3d.h>

Public Member Functions
constexpr bool	operator== (const Twist3d &other) const
	Checks equality between this Twist3d and another object.

constexpr Twist3d	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::meter_t	dz = 0_m
	Linear "dz" component.

units::radian_t	rx = 0_rad
	Rotation vector x component.

units::radian_t	ry = 0_rad
	Rotation vector y component.

units::radian_t	rz = 0_rad
	Rotation vector z component.

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*()

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

inlineconstexpr

Scale this by a given factor.

Parameters

factor The factor by which to scale.

Returns: The scaled Twist3d.

◆ operator==()

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

inlineconstexpr

Checks equality between this Twist3d and another object.

Parameters

other The 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:

frc/geometry/Twist3d.h

Public Member Functions

Public Attributes