Package edu.wpi.first.math.geometry

Class Rectangle2d

java.lang.Object
edu.wpi.first.math.geometry.Rectangle2d
All Implemented Interfaces:
ProtobufSerializable, StructSerializable, WPISerializable
public class Rectangle2d extends Object implements ProtobufSerializable, StructSerializable
Represents a 2d rectangular space containing translational, rotational, and scaling components.

  • Field Details

  • Constructor Details

    • Rectangle2d

      public Rectangle2d(Pose2d center, double xWidth, double yWidth)
      Constructs a rectangle at the specified position with the specified width and height.
      Parameters:
      center - The position (translation and rotation) of the rectangle.
      xWidth - The x size component of the rectangle, in unrotated coordinate frame.
      yWidth - The y size component of the rectangle, in unrotated coordinate frame.

    • Rectangle2d

      public Rectangle2d(Pose2d center, Distance xWidth, Distance yWidth)
      Constructs a rectangle at the specified position with the specified width and height. The X and Y widths will be converted to and tracked as meters.
      Parameters:
      center - The position (translation and rotation) of the rectangle.
      xWidth - The x size component of the rectangle, in unrotated coordinate frame.
      yWidth - The y size component of the rectangle, in unrotated coordinate frame.

    • Rectangle2d

      public Rectangle2d(Translation2d cornerA, Translation2d cornerB)
      Creates an unrotated rectangle from the given corners. The corners should be diagonally opposite of each other.
      Parameters:
      cornerA - The first corner of the rectangle.
      cornerB - The second corner of the rectangle.

  • Method Details

    • getCenter

      public Pose2d getCenter()
      Returns the center of the rectangle.
      Returns:
      The center of the rectangle.

    • getRotation

      public Rotation2d getRotation()
      Returns the rotational component of the rectangle.
      Returns:
      The rotational component of the rectangle.

    • getXWidth

      public double getXWidth()
      Returns the x size component of the rectangle.
      Returns:
      The x size component of the rectangle.

    • getYWidth

      public double getYWidth()
      Returns the y size component of the rectangle.
      Returns:
      The y size component of the rectangle.

    • getMeasureXWidth

      public Distance getMeasureXWidth()
      Returns the X size component of the rectangle in a measure.
      Returns:
      The x size component of the rectangle in a measure.

    • getMeasureYWidth

      public Distance getMeasureYWidth()
      Returns the Y size component of the rectangle in a measure.
      Returns:
      The y size component of the rectangle in a measure.

    • transformBy

      public Rectangle2d transformBy(Transform2d other)
      Transforms the center of the rectangle and returns the new rectangle.
      Parameters:
      other - The transform to transform by.
      Returns:
      The transformed rectangle

    • rotateBy

      public Rectangle2d rotateBy(Rotation2d other)
      Rotates the center of the rectangle and returns the new rectangle.
      Parameters:
      other - The rotation to transform by.
      Returns:
      The rotated rectangle.

    • intersects

      public boolean intersects(Translation2d point)
      Checks if a point is intersected by the rectangle's perimeter.
      Parameters:
      point - The point to check.
      Returns:
      True, if the rectangle's perimeter intersects the point.

    • contains

      public boolean contains(Translation2d point)
      Checks if a point is contained within the rectangle. This is inclusive, if the point lies on the perimeter it will return true.
      Parameters:
      point - The point to check.
      Returns:
      True, if the rectangle contains the point or the perimeter intersects the point.

    • getDistance

      public double getDistance(Translation2d point)
      Returns the distance between the perimeter of the rectangle and the point.
      Parameters:
      point - The point to check.
      Returns:
      The distance (0, if the point is contained by the rectangle)

    • getMeasureDistance

      public Distance getMeasureDistance(Translation2d point)
      Returns the distance between the perimeter of the rectangle and the point in a measure.
      Parameters:
      point - The point to check.
      Returns:
      The distance (0, if the point is contained by the rectangle) in a measure.

    • nearest

      public Translation2d nearest(Translation2d point)
      Returns the nearest point that is contained within the rectangle.
      Parameters:
      point - The point that this will find the nearest point to.
      Returns:
      A new point that is nearest to point and contained in the rectangle.

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • equals

      public boolean equals(Object obj)
      Checks equality between this Rectangle2d and another object.
      Overrides:
      equals in class Object
      Parameters:
      obj - The other object.
      Returns:
      Whether the two objects are equal or not.

    • hashCode

      public int hashCode()
      Overrides:
      hashCode in class Object