com.first.team2052.lib.vec

Class Rotation2d

java.lang.Object

com.first.team2052.lib.vec.Rotation2d

All Implemented Interfaces:

Interpolable<Rotation2d>

public class Rotation2d
extends java.lang.Object
implements Interpolable<Rotation2d>

A rotation in a 2d coordinate frame represented a point on the unit circle (cosine and sine).

Inspired by Sophus (https://github.com/strasdat/Sophus/tree/master/sophus)

Field Summary

Fields

Modifier and Type	Field and Description
protected double	cos_angle_
protected static double	kEpsilon
protected double	sin_angle_

Constructor Summary

Constructors

Constructor and Description
Rotation2d()
Rotation2d(double x, double y, boolean normalize)
Rotation2d(Rotation2d other)

Method Summary

Modifier and Type	Method and Description
double	cos()
static Rotation2d	fromDegrees(double angle_degrees)
static Rotation2d	fromRadians(double angle_radians)
double	getDegrees()
double	getRadians()
Rotation2d	interpolate(Rotation2d other, double x) Interpolates between this value and an other value according to a given parameter.
Rotation2d	inverse() The inverse of a Rotation2d "undoes" the effect of this rotation.
void	normalize() From trig, we know that sin^2 + cos^2 == 1, but as we do math on this object we might accumulate rounding errors.
Rotation2d	rotateBy(Rotation2d other) We can rotate this Rotation2d by adding together the effects of it and another rotation.
double	sin()
double	tan()
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

kEpsilon

protected static final double kEpsilon

See Also:

Constant Field Values

cos_angle_

protected double cos_angle_

sin_angle_

protected double sin_angle_

Constructor Detail

Rotation2d

public Rotation2d()

Rotation2d

public Rotation2d(double x,
                  double y,
                  boolean normalize)

Rotation2d

public Rotation2d(Rotation2d other)

Method Detail

fromRadians

public static Rotation2d fromRadians(double angle_radians)

fromDegrees

public static Rotation2d fromDegrees(double angle_degrees)

normalize

public void normalize()

From trig, we know that sin^2 + cos^2 == 1, but as we do math on this object we might accumulate rounding errors. Normalizing forces us to re-scale the sin and cos to reset rounding errors.

cos

public double cos()

sin

public double sin()

tan

public double tan()

getRadians

public double getRadians()

getDegrees

public double getDegrees()

rotateBy

public Rotation2d rotateBy(Rotation2d other)

We can rotate this Rotation2d by adding together the effects of it and another rotation.

Parameters:

other - The other rotation. See: https://en.wikipedia.org/wiki/Rotation_matrix

Returns:

This rotation rotated by other.

inverse

public Rotation2d inverse()

The inverse of a Rotation2d "undoes" the effect of this rotation.

Returns:

The opposite of this rotation.

interpolate

public Rotation2d interpolate(Rotation2d other,
                              double x)

Description copied from interface: Interpolable

Interpolates between this value and an other value according to a given parameter. If x is 0, the method should return this value. If x is 1, the method should return the other value. If 0 < x < 1, the return value should be interpolated proportionally between the two.

Specified by:

interpolate in interface Interpolable<Rotation2d>

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