Package edu.wpi.first.math.geometry

Class Twist2d

java.lang.Object

edu.wpi.first.math.geometry.Twist2d

All Implemented Interfaces:

ProtobufSerializable, StructSerializable, WPISerializable

public class Twist2d
extends Object
implements ProtobufSerializable, StructSerializable

A change in distance along a 2D arc since the last pose update. We can use ideas from differential calculus to create new Pose2d objects from a Twist2d and vice versa.

A Twist can be used to represent a difference between two poses.

Field Summary

Fields

Modifier and Type	Field	Description
double	dtheta	Angular "dtheta" component (radians).
double	dx	Linear "dx" component.
double	dy	Linear "dy" component.
static Twist2dProto	proto	Twist2d protobuf for serialization.
static Twist2dStruct	struct	Twist2d struct for serialization.

Constructor Summary

Constructors

Constructor	Description
Twist2d()	Default constructor.
Twist2d(double dx, double dy, double dtheta)	Constructs a Twist2d with the given values.

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object obj)	Checks equality between this Twist2d and another object.
int	hashCode()
String	toString()

Methods inherited from class java.lang.Object

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

Field Details

dx

public double dx

Linear "dx" component.

dy

public double dy

Linear "dy" component.

dtheta

public double dtheta

Angular "dtheta" component (radians).

proto

public static final Twist2dProto proto

Twist2d protobuf for serialization.

struct

public static final Twist2dStruct struct

Twist2d struct for serialization.

Constructor Details

Twist2d

public Twist2d()

Default constructor.

Twist2d

public Twist2d(double dx, double dy, double dtheta)

Constructs a Twist2d with the given values.

Parameters:

dx - Change in x direction relative to robot.

dy - Change in y direction relative to robot.

dtheta - Change in angle relative to robot.

Method Details

toString

public String toString()

Overrides:

toString in class Object

equals

public boolean equals(Object obj)

Checks equality between this Twist2d 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