com.first.team2052.lib.vec

Class RigidTransform2d

java.lang.Object

com.first.team2052.lib.vec.RigidTransform2d

All Implemented Interfaces:

Interpolable<RigidTransform2d>

public class RigidTransform2d
extends java.lang.Object
implements Interpolable<RigidTransform2d>

Represents a 2d pose (rigid transform) containing translational and rotational elements. Inspired by Sophus

See Also:

Sophus github

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	RigidTransform2d.Delta Movement along an arc at constant curvature and velocity.

Field Summary

Fields

Modifier and Type	Field and Description
protected Rotation2d	rotation_
protected Translation2d	translation_

Constructor Summary

Constructors

Constructor and Description
RigidTransform2d() default rigidTransform has 0 rotation and translation
RigidTransform2d(RigidTransform2d other) makes a copy of the given rigidTransform
RigidTransform2d(Translation2d translation, Rotation2d rotation)

Method Summary

Modifier and Type	Method and Description
static RigidTransform2d	fromRotation(Rotation2d rotation) generates a rigidTransform with the given rotation component and 0 translation
static RigidTransform2d	fromTranslation(Translation2d translation) generates a rigidTransform with the given translation component and 0 rotation
static RigidTransform2d	fromVelocity(RigidTransform2d.Delta delta) Obtain a new RigidTransform2d from a (constant curvature) velocity.
Rotation2d	getRotation()
Translation2d	getTranslation()
RigidTransform2d	interpolate(RigidTransform2d other, double x) Do linear interpolation of this transform (there are more accurate ways using constant curvature, but this is good enough).
RigidTransform2d	inverse() The inverse of this transform "undoes" the effect of translating by this transform.
void	setRotation(Rotation2d rotation)
void	setTranslation(Translation2d translation)
java.lang.String	toString()
RigidTransform2d	transformBy(RigidTransform2d other) Transforming this RigidTransform2d means first translating by other.translation and then rotating by other.rotation

Methods inherited from class java.lang.Object

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

Field Detail

translation_

protected Translation2d translation_

rotation_

protected Rotation2d rotation_

Constructor Detail

RigidTransform2d

public RigidTransform2d()

default rigidTransform has 0 rotation and translation

RigidTransform2d

public RigidTransform2d(Translation2d translation,
                        Rotation2d rotation)

Parameters:

translation - the translation component of the transform

rotation - the rotation component of the transform

RigidTransform2d

public RigidTransform2d(RigidTransform2d other)

makes a copy of the given rigidTransform

Parameters:

other - the rigidTransform to copy

Method Detail

fromTranslation

public static RigidTransform2d fromTranslation(Translation2d translation)

generates a rigidTransform with the given translation component and 0 rotation

Parameters:

translation - the translation component

Returns:

the rigidTransform object

fromRotation

public static RigidTransform2d fromRotation(Rotation2d rotation)

generates a rigidTransform with the given rotation component and 0 translation

Parameters:

rotation - the rotation component

Returns:

the rigidTransform object

fromVelocity

public static RigidTransform2d fromVelocity(RigidTransform2d.Delta delta)

Obtain a new RigidTransform2d from a (constant curvature) velocity.

Parameters:

delta - the velocity to watch

Returns:

the resultant rigidTransform

See Also:

Sophus se2

getTranslation

public Translation2d getTranslation()

Returns:

the translation component

setTranslation

public void setTranslation(Translation2d translation)

Parameters:

translation - the new translation component

getRotation

public Rotation2d getRotation()

Returns:

the rotation component

setRotation

public void setRotation(Rotation2d rotation)

Parameters:

rotation - the new rotation component

transformBy

public RigidTransform2d transformBy(RigidTransform2d other)

Transforming this RigidTransform2d means first translating by other.translation and then rotating by other.rotation

Parameters:

other - The other transform.

Returns:

This transform * other

inverse

public RigidTransform2d inverse()

The inverse of this transform "undoes" the effect of translating by this transform.

Returns:

The opposite of this transform.

interpolate

public RigidTransform2d interpolate(RigidTransform2d other,
                                    double x)

Do linear interpolation of this transform (there are more accurate ways using constant curvature, but this is good enough).

Specified by:

interpolate in interface Interpolable<RigidTransform2d>

Parameters:

other - The value of the upper bound

x - The requested value. Should be between 0 and 1.

Returns:

The estimated average between the surrounding data

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object