Package edu.wpi.first.math.geometry

Class Transform2d

java.lang.Object

edu.wpi.first.math.geometry.Transform2d

All Implemented Interfaces:

ProtobufSerializable, StructSerializable, WPISerializable

public class Transform2d
extends Object
implements ProtobufSerializable, StructSerializable

Represents a transformation for a Pose2d in the pose's frame.

Field Summary

Fields

Modifier and Type	Field	Description
static Transform2dProto	proto	Transform2d protobuf for serialization.
static Transform2dStruct	struct	Transform2d struct for serialization.

Constructor Summary

Constructors

Constructor	Description
Transform2d()	Constructs the identity transform -- maps an initial pose to itself.
Transform2d(double x, double y, Rotation2d rotation)	Constructs a transform with x and y translations instead of a separate Translation2d.
Transform2d(Pose2d initial, Pose2d last)	Constructs the transform that maps the initial pose to the final pose.
Transform2d(Translation2d translation, Rotation2d rotation)	Constructs a transform with the given translation and rotation components.
Transform2d(Measure<Distance> x, Measure<Distance> y, Rotation2d rotation)	Constructs a transform with x and y translations instead of a separate Translation2d.

Method Summary

Modifier and Type	Method	Description
Transform2d	div(double scalar)	Divides the transform by the scalar.
boolean	equals(Object obj)	Checks equality between this Transform2d and another object.
Rotation2d	getRotation()	Returns the rotational component of the transformation.
Translation2d	getTranslation()	Returns the translation component of the transformation.
double	getX()	Returns the X component of the transformation's translation.
double	getY()	Returns the Y component of the transformation's translation.
int	hashCode()
Transform2d	inverse()	Invert the transformation.
Transform2d	plus(Transform2d other)	Composes two transformations.
Transform2d	times(double scalar)	Multiplies the transform by the scalar.
String	toString()

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Details

proto

public static final Transform2dProto proto

Transform2d protobuf for serialization.

struct

public static final Transform2dStruct struct

Transform2d struct for serialization.

Constructor Details

Transform2d

public Transform2d(Pose2d initial, Pose2d last)

Constructs the transform that maps the initial pose to the final pose.

Parameters:

initial - The initial pose for the transformation.

last - The final pose for the transformation.

Transform2d

public Transform2d(Translation2d translation, Rotation2d rotation)

Constructs a transform with the given translation and rotation components.

Parameters:

translation - Translational component of the transform.

rotation - Rotational component of the transform.

Transform2d

public Transform2d(double x, double y, Rotation2d rotation)

Constructs a transform with x and y translations instead of a separate Translation2d.

Parameters:

x - The x component of the translational component of the transform.

y - The y component of the translational component of the transform.

rotation - The rotational component of the transform.

Transform2d

public Transform2d(Measure<Distance> x, Measure<Distance> y, Rotation2d rotation)

Constructs a transform with x and y translations instead of a separate Translation2d. The X and Y translations will be converted to and tracked as meters.

Parameters:

x - The x component of the translational component of the transform.

y - The y component of the translational component of the transform.

rotation - The rotational component of the transform.

Transform2d

public Transform2d()

Constructs the identity transform -- maps an initial pose to itself.

Method Details

times

public Transform2d times(double scalar)

Multiplies the transform by the scalar.

Parameters:

scalar - The scalar.

Returns:

The scaled Transform2d.

div

public Transform2d div(double scalar)

Divides the transform by the scalar.

Parameters:

scalar - The scalar.

Returns:

The scaled Transform2d.

plus

public Transform2d plus(Transform2d other)

Composes two transformations. The second transform is applied relative to the orientation of the first.

Parameters:

other - The transform to compose with this one.

Returns:

The composition of the two transformations.

getTranslation

public Translation2d getTranslation()

Returns the translation component of the transformation.

Returns:

The translational component of the transform.

getX

public double getX()

Returns the X component of the transformation's translation.

Returns:

The x component of the transformation's translation.

getY

public double getY()

Returns the Y component of the transformation's translation.

Returns:

The y component of the transformation's translation.

getRotation

public Rotation2d getRotation()

Returns the rotational component of the transformation.

Returns:

Reference to the rotational component of the transform.

inverse

public Transform2d inverse()

Invert the transformation. This is useful for undoing a transformation.

Returns:

The inverted transformation.

toString

public String toString()

Overrides:

toString in class Object

equals

public boolean equals(Object obj)

Checks equality between this Transform2d 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