Package edu.wpi.first.math.geometry
Class Pose3d
java.lang.Object
edu.wpi.first.math.geometry.Pose3d
 All Implemented Interfaces:
Interpolatable<Pose3d>
public class Pose3d extends Object implements Interpolatable<Pose3d>
Represents a 3D pose containing translational and rotational elements.

Constructor Summary
Constructors Constructor Description Pose3d()
Constructs a pose at the origin facing toward the positive X axis.Pose3d(double x, double y, double z, Rotation3d rotation)
Constructs a pose with x, y, and z translations instead of a separate Translation3d.Pose3d(Pose2d pose)
Constructs a 3D pose from a 2D pose in the XY plane.Pose3d(Translation3d translation, Rotation3d rotation)
Constructs a pose with the specified translation and rotation. 
Method Summary
Modifier and Type Method Description Pose3d
div(double scalar)
Divides the current pose by a scalar.boolean
equals(Object obj)
Checks equality between this Pose3d and another object.Pose3d
exp(Twist3d twist)
Obtain a new Pose3d from a (constant curvature) velocity.Rotation3d
getRotation()
Returns the rotational component of the transformation.Translation3d
getTranslation()
Returns the translation component of the transformation.double
getX()
Returns the X component of the pose's translation.double
getY()
Returns the Y component of the pose's translation.double
getZ()
Returns the Z component of the pose's translation.int
hashCode()
Pose3d
interpolate(Pose3d endValue, double t)
Return the interpolated value.Twist3d
log(Pose3d end)
Returns a Twist3d that maps this pose to the end pose.Transform3d
minus(Pose3d other)
Returns the Transform3d that maps the one pose to another.Pose3d
plus(Transform3d other)
Transforms the pose by the given transformation and returns the new transformed pose.Pose3d
relativeTo(Pose3d other)
Returns the current pose relative to the given pose.Pose3d
times(double scalar)
Multiplies the current pose by a scalar.Pose2d
toPose2d()
Returns a Pose2d representing this Pose3d projected into the XY plane.String
toString()
Pose3d
transformBy(Transform3d other)
Transforms the pose by the given transformation and returns the new pose.

Constructor Details

Pose3d
public Pose3d()Constructs a pose at the origin facing toward the positive X axis. 
Pose3d
Constructs a pose with the specified translation and rotation. Parameters:
translation
 The translational component of the pose.rotation
 The rotational component of the pose.

Pose3d
Constructs a pose with x, y, and z translations instead of a separate Translation3d. Parameters:
x
 The x component of the translational component of the pose.y
 The y component of the translational component of the pose.z
 The z component of the translational component of the pose.rotation
 The rotational component of the pose.

Pose3d
Constructs a 3D pose from a 2D pose in the XY plane. Parameters:
pose
 The 2D pose.


Method Details

plus
Transforms the pose by the given transformation and returns the new transformed pose. Parameters:
other
 The transform to transform the pose by. Returns:
 The transformed pose.

minus
Returns the Transform3d that maps the one pose to another. Parameters:
other
 The initial pose of the transformation. Returns:
 The transform that maps the other pose to the current pose.

getTranslation
Returns the translation component of the transformation. Returns:
 The translational component of the pose.

getX
Returns the X component of the pose's translation. Returns:
 The x component of the pose's translation.

getY
Returns the Y component of the pose's translation. Returns:
 The y component of the pose's translation.

getZ
Returns the Z component of the pose's translation. Returns:
 The z component of the pose's translation.

getRotation
Returns the rotational component of the transformation. Returns:
 The rotational component of the pose.

times
Multiplies the current pose by a scalar. Parameters:
scalar
 The scalar. Returns:
 The new scaled Pose3d.

div
Divides the current pose by a scalar. Parameters:
scalar
 The scalar. Returns:
 The new scaled Pose3d.

transformBy
Transforms the pose by the given transformation and returns the new pose. See + operator for the matrix multiplication performed. Parameters:
other
 The transform to transform the pose by. Returns:
 The transformed pose.

relativeTo
Returns the current pose relative to the given pose.This function can often be used for trajectory tracking or pose stabilization algorithms to get the error between the reference and the current pose.
 Parameters:
other
 The pose that is the origin of the new coordinate frame that the current pose will be converted into. Returns:
 The current pose relative to the new origin pose.

exp
Obtain a new Pose3d from a (constant curvature) velocity.The twist is a change in pose in the robot's coordinate frame since the previous pose update. When the user runs exp() on the previous known fieldrelative pose with the argument being the twist, the user will receive the new fieldrelative pose.
"Exp" represents the pose exponential, which is solving a differential equation moving the pose forward in time.
 Parameters:
twist
 The change in pose in the robot's coordinate frame since the previous pose update. For example, if a nonholonomic robot moves forward 0.01 meters and changes angle by 0.5 degrees since the previous pose update, the twist would be Twist3d(0.01, 0.0, 0.0, new new Rotation3d(0.0, 0.0, Units.degreesToRadians(0.5))). Returns:
 The new pose of the robot.

log
Returns a Twist3d that maps this pose to the end pose. If c is the output ofa.Log(b)
, thena.Exp(c)
would yield b. Parameters:
end
 The end pose for the transformation. Returns:
 The twist that maps this to end.

toPose2d
Returns a Pose2d representing this Pose3d projected into the XY plane. Returns:
 A Pose2d representing this Pose3d projected into the XY plane.

toString

equals
Checks equality between this Pose3d and another object. 
hashCode

interpolate
Description copied from interface:Interpolatable
Return the interpolated value. This object is assumed to be the starting position, or lower bound. Specified by:
interpolate
in interfaceInterpolatable<Pose3d>
 Parameters:
endValue
 The upper bound, or end.t
 How far between the lower and upper bound we are. This should be bounded in [0, 1]. Returns:
 The interpolated value.
