com.first.team2052.lib.vec

Class RigidTransform2d.Delta

java.lang.Object

com.first.team2052.lib.vec.RigidTransform2d.Delta

Enclosing class:

RigidTransform2d

public static class RigidTransform2d.Delta
extends java.lang.Object

Movement along an arc at constant curvature and velocity. We can use ideas from "differential calculus" to create new RigidTransform2d's from a Delta.

Field Summary

Fields

Modifier and Type	Field and Description
double	dtheta change in theta
double	dx change in x
double	dy change in y

Constructor Summary

Constructors

Constructor and Description
Delta(double dx, double dy, double dtheta)
Delta(RigidTransform2d pose2, RigidTransform2d pose1)

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

dx

public final double dx

change in x

dy

public final double dy

change in y

dtheta

public final double dtheta

change in theta

Constructor Detail

Delta

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

Parameters:

dx - change in x

dy - change in y

dtheta - change in theta

Delta

public Delta(RigidTransform2d pose2,
             RigidTransform2d pose1)