Package edu.wpi.first.math.geometry

Class Transform3d

java.lang.Object

edu.wpi.first.math.geometry.Transform3d

All Implemented Interfaces:

ProtobufSerializable, StructSerializable, WPISerializable

public class Transform3d
extends Object
implements ProtobufSerializable, StructSerializable

Represents a transformation for a Pose3d in the pose's frame.

Field Summary

Fields

Modifier and Type	Field	Description
static Transform3dProto	proto	Transform3d protobuf for serialization.
static Transform3dStruct	struct	Transform3d struct for serialization.

Constructor Summary

Constructors

Constructor	Description
Transform3d()	Constructs the identity transform -- maps an initial pose to itself.
Transform3d(double x, double y, double z, Rotation3d rotation)	Constructs a transform with x, y, and z translations instead of a separate Translation3d.
Transform3d(Pose3d initial, Pose3d last)	Constructs the transform that maps the initial pose to the final pose.
Transform3d(Translation3d translation, Rotation3d rotation)	Constructs a transform with the given translation and rotation components.

Method Summary

Modifier and Type	Method	Description
Transform3d	div(double scalar)	Divides the transform by the scalar.
boolean	equals(Object obj)	Checks equality between this Transform3d and another object.
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 transformation's translation.
double	getY()	Returns the Y component of the transformation's translation.
double	getZ()	Returns the Z component of the transformation's translation.
int	hashCode()
Transform3d	inverse()	Invert the transformation.
Transform3d	plus(Transform3d other)	Composes two transformations.
Transform3d	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 Transform3dProto proto

Transform3d protobuf for serialization.

struct

public static final Transform3dStruct struct

Transform3d struct for serialization.

Constructor Details

Transform3d

public Transform3d(Pose3d initial, Pose3d 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.

Transform3d

public Transform3d(Translation3d translation, Rotation3d rotation)

Constructs a transform with the given translation and rotation components.

Parameters:

translation - Translational component of the transform.

rotation - Rotational component of the transform.

Transform3d

public Transform3d(double x, double y, double z, Rotation3d rotation)

Constructs a transform with x, y, and z translations instead of a separate Translation3d.

Parameters:

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

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

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

rotation - The rotational component of the transform.

Transform3d

public Transform3d()

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

Method Details

times

public Transform3d times(double scalar)

Multiplies the transform by the scalar.

Parameters:

scalar - The scalar.

Returns:

The scaled Transform3d.

div

public Transform3d div(double scalar)

Divides the transform by the scalar.

Parameters:

scalar - The scalar.

Returns:

The scaled Transform3d.

plus

public Transform3d plus(Transform3d 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 Translation3d 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.

getZ

public double getZ()

Returns the Z component of the transformation's translation.

Returns:

The z component of the transformation's translation.

getRotation

public Rotation3d getRotation()

Returns the rotational component of the transformation.

Returns:

Reference to the rotational component of the transform.

inverse

public Transform3d 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 Transform3d 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