edu.wpi.first.math.geometry.Pose2d Class Reference

Inheritance diagram for edu.wpi.first.math.geometry.Pose2d:

Public Member Functions
	Pose2d ()
	Pose2d ( @JsonProperty(required=true, value="translation") Translation2d translation, @JsonProperty(required=true, value="rotation") Rotation2d rotation)
	Pose2d (double x, double y, Rotation2d rotation)
	Pose2d (Measure< Distance > x, Measure< Distance > y, Rotation2d rotation)
Pose2d	plus (Transform2d other)
Transform2d	minus (Pose2d other)
Translation2d	getTranslation ()
double	getX ()
double	getY ()
Rotation2d	getRotation ()
Pose2d	times (double scalar)
Pose2d	div (double scalar)
Pose2d	rotateBy (Rotation2d other)
Pose2d	transformBy (Transform2d other)
Pose2d	relativeTo (Pose2d other)
Pose2d	exp (Twist2d twist)
Twist2d	log (Pose2d end)
Pose2d	nearest (List< Pose2d > poses)
boolean	equals (Object obj)
Public Member Functions inherited from edu.wpi.first.math.interpolation.Interpolatable< T >
T	interpolate (T endValue, double t)

Static Public Attributes
static final Pose2dProto	proto = new Pose2dProto()
static final Pose2dStruct	struct = new Pose2dStruct()

Detailed Description

Represents a 2D pose containing translational and rotational elements.

Constructor & Destructor Documentation

Pose2d() [1/4]

edu.wpi.first.math.geometry.Pose2d.Pose2d

(

)

Constructs a pose at the origin facing toward the positive X axis.

Pose2d() [2/4]

edu.wpi.first.math.geometry.Pose2d.Pose2d	(	@JsonProperty(required=true, value="translation") Translation2d	translation,
		@JsonProperty(required=true, value="rotation") Rotation2d	rotation )

Constructs a pose with the specified translation and rotation.

Parameters

translation	The translational component of the pose.
rotation	The rotational component of the pose.

Pose2d() [3/4]

edu.wpi.first.math.geometry.Pose2d.Pose2d	(	double	x,
		double	y,
		Rotation2d	rotation )

Constructs a pose with x and y translations instead of a separate Translation2d.

Parameters

x	The x component of the translational component of the pose.
y	The y component of the translational component of the pose.
rotation	The rotational component of the pose.

Pose2d() [4/4]

edu.wpi.first.math.geometry.Pose2d.Pose2d	(	Measure< Distance >	x,
		Measure< Distance >	y,
		Rotation2d	rotation )

Constructs a pose with x and y translations instead of a separate Translation2d. The X and Y translations will be converted to and tracked as meters.

Parameters

x	The x component of the translational component of the pose.
y	The y component of the translational component of the pose.
rotation	The rotational component of the pose.

Member Function Documentation

div()

Pose2d edu.wpi.first.math.geometry.Pose2d.div

(

double

scalar

)

Divides the current pose by a scalar.

Parameters

scalar

The scalar.

Returns

The new scaled Pose2d.

equals()

boolean edu.wpi.first.math.geometry.Pose2d.equals

(

Object

obj

)

Checks equality between this Pose2d and another object.

Parameters

obj	The other object.

Returns

Whether the two objects are equal or not.

exp()

Pose2d edu.wpi.first.math.geometry.Pose2d.exp

(

Twist2d

twist

)

Obtain a new Pose2d from a (constant curvature) velocity.

See Controls Engineering in the FIRST Robotics Competition section 10.2 "Pose exponential" for a derivation.

The twist is a change in pose in the robot's coordinate frame since the previous pose update. When the user runs exp() on the previous known field-relative pose with the argument being the twist, the user will receive the new field-relative pose.

"Exp" represents the pose exponential, which is solving a differential equation moving the pose forward in time.

Parameters

twist

The change in pose in the robot's coordinate frame since the previous pose update. For example, if a non-holonomic robot moves forward 0.01 meters and changes angle by 0.5 degrees since the previous pose update, the twist would be Twist2d(0.01, 0.0, Units.degreesToRadians(0.5)).

Returns

The new pose of the robot.

getRotation()

Rotation2d edu.wpi.first.math.geometry.Pose2d.getRotation

(

)

Returns the rotational component of the transformation.

Returns

The rotational component of the pose.

getTranslation()

Translation2d edu.wpi.first.math.geometry.Pose2d.getTranslation

(

)

Returns the translation component of the transformation.

Returns

The translational component of the pose.

getX()

double edu.wpi.first.math.geometry.Pose2d.getX

(

)

Returns the X component of the pose's translation.

Returns

The x component of the pose's translation.

getY()

double edu.wpi.first.math.geometry.Pose2d.getY

(

)

Returns the Y component of the pose's translation.

Returns

The y component of the pose's translation.

log()

Twist2d edu.wpi.first.math.geometry.Pose2d.log

(

Pose2d

end

)

Returns a Twist2d that maps this pose to the end pose. If c is the output of a.Log(b), then a.Exp(c) would yield b.

Parameters

end	The end pose for the transformation.

Returns

The twist that maps this to end.

minus()

Transform2d edu.wpi.first.math.geometry.Pose2d.minus

(

Pose2d

other

)

Returns the Transform2d that maps the one pose to another.

Parameters

other

The initial pose of the transformation.

Returns

The transform that maps the other pose to the current pose.

nearest()

Pose2d edu.wpi.first.math.geometry.Pose2d.nearest

(

List< Pose2d >

poses

)

Returns the nearest Pose2d from a list of poses. If two or more poses in the list have the same distance from this pose, return the one with the closest rotation component.

Parameters

poses

The list of poses to find the nearest.

Returns

The nearest Pose2d from the list.

plus()

Pose2d edu.wpi.first.math.geometry.Pose2d.plus

(

Transform2d

other

)

Transforms the pose by the given transformation and returns the new transformed pose.

[x_new]    [cos, -sin, 0][transform.x]
[y_new] += [sin,  cos, 0][transform.y]
[t_new]    [  0,    0, 1][transform.t]

Parameters

other

The transform to transform the pose by.

Returns

The transformed pose.

relativeTo()

Pose2d edu.wpi.first.math.geometry.Pose2d.relativeTo

(

Pose2d

other

)

Returns the current pose relative to the given pose.

This function can often be used for trajectory tracking or pose stabilization algorithms to get the error between the reference and the current pose.

Parameters

other

The pose that is the origin of the new coordinate frame that the current pose will be converted into.

Returns

The current pose relative to the new origin pose.

rotateBy()

Pose2d edu.wpi.first.math.geometry.Pose2d.rotateBy

(

Rotation2d

other

)

Rotates the pose around the origin and returns the new pose.

Parameters

other

The rotation to transform the pose by.

Returns

The transformed pose.

times()

Pose2d edu.wpi.first.math.geometry.Pose2d.times

(

double

scalar

)

Multiplies the current pose by a scalar.

Parameters

scalar

The scalar.

Returns

The new scaled Pose2d.

transformBy()

Pose2d edu.wpi.first.math.geometry.Pose2d.transformBy

(

Transform2d

other

)

Transforms the pose by the given transformation and returns the new pose. See + operator for the matrix multiplication performed.

Parameters

other

The transform to transform the pose by.

Returns

The transformed pose.

Member Data Documentation

proto

final Pose2dProto edu.wpi.first.math.geometry.Pose2d.proto = new Pose2dProto()

static

Pose2d protobuf for serialization.

struct

final Pose2dStruct edu.wpi.first.math.geometry.Pose2d.struct = new Pose2dStruct()

static

Pose2d struct for serialization.

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The documentation for this class was generated from the following file:

• D:/SDASVN/2024/RaspberryPi/VSCode/Source/edu/wpi/first/math/geometry/Pose2d.java