com.first.team2052.lib.vec

Class Translation2d

java.lang.Object

com.first.team2052.lib.vec.Translation2d

All Implemented Interfaces:

Interpolable<Translation2d>

public class Translation2d
extends java.lang.Object
implements Interpolable<Translation2d>

A translation in a 2d coordinate frame. Translations are simply shifts in an (x, y) plane.

Field Summary

Fields

Modifier and Type	Field and Description
protected double	x_
protected double	y_

Constructor Summary

Constructors

Constructor and Description
Translation2d()
Translation2d(double x, double y)
Translation2d(Translation2d other)

Method Summary

Modifier and Type	Method and Description
Translation2d	extrapolate(Translation2d other, double x)
double	getX()
double	getY()
Translation2d	interpolate(Translation2d other, double x) Interpolates between this value and an other value according to a given parameter.
Translation2d	inverse() The inverse simply means a Translation2d that "undoes" this object.
double	norm() The "norm" of a transform is the Euclidean distance in x and y.
Translation2d	rotateBy(Rotation2d rotation) We can also rotate Translation2d's.
void	setX(double x)
void	setY(double y)
java.lang.String	toString()
Translation2d	translateBy(Translation2d other) We can compose Translation2d's by adding together the x and y shifts.

Methods inherited from class java.lang.Object

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

Field Detail

x_

protected double x_

y_

protected double y_

Constructor Detail

Translation2d

public Translation2d()

Translation2d

public Translation2d(double x,
                     double y)

Translation2d

public Translation2d(Translation2d other)

Method Detail

norm

public double norm()

The "norm" of a transform is the Euclidean distance in x and y.

Returns:

Sqrt(x^2 + y^2)

getX

public double getX()

getY

public double getY()

setX

public void setX(double x)

setY

public void setY(double y)

translateBy

public Translation2d translateBy(Translation2d other)

We can compose Translation2d's by adding together the x and y shifts.

Parameters:

other - The other translation to add.

Returns:

The combined effect of translating by this object and the other.

rotateBy

public Translation2d rotateBy(Rotation2d rotation)

We can also rotate Translation2d's. See: https://en.wikipedia.org/wiki/Rotation_matrix

Parameters:

rotation - The rotation to apply.

Returns:

This translation rotated by rotation.

inverse

public Translation2d inverse()

The inverse simply means a Translation2d that "undoes" this object.

Returns:

Translation by -x and -y.

interpolate

public Translation2d interpolate(Translation2d 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<Translation2d>

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

extrapolate

public Translation2d extrapolate(Translation2d other,
                                 double x)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object