edu.wpi.first.math.geometry.Rotation2d Class Reference

Inheritance diagram for edu.wpi.first.math.geometry.Rotation2d:

Public Member Functions
	Rotation2d ()
	Rotation2d (@JsonProperty(required=true, value="radians") double value)
	Rotation2d (double x, double y)
	Rotation2d (Measure< Angle > angle)
Rotation2d	plus (Rotation2d other)
Rotation2d	minus (Rotation2d other)
Rotation2d	unaryMinus ()
Rotation2d	times (double scalar)
Rotation2d	div (double scalar)
Rotation2d	rotateBy (Rotation2d other)
double	getRadians ()
double	getDegrees ()
double	getRotations ()
double	getCos ()
double	getSin ()
double	getTan ()
boolean	equals (Object obj)
Public Member Functions inherited from edu.wpi.first.math.interpolation.Interpolatable< T >
T	interpolate (T endValue, double t)

Static Public Member Functions
static Rotation2d	fromRadians (double radians)
static Rotation2d	fromDegrees (double degrees)
static Rotation2d	fromRotations (double rotations)

Static Public Attributes
static final Rotation2dProto	proto = new Rotation2dProto()
static final Rotation2dStruct	struct = new Rotation2dStruct()

Detailed Description

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

The angle is continuous, that is if a Rotation2d is constructed with 361 degrees, it will return 361 degrees. This allows algorithms that wouldn't want to see a discontinuity in the rotations as it sweeps past from 360 to 0 on the second time around.

Constructor & Destructor Documentation

Rotation2d() [1/4]

edu.wpi.first.math.geometry.Rotation2d.Rotation2d

(

)

Constructs a Rotation2d with a default angle of 0 degrees.

Rotation2d() [2/4]

edu.wpi.first.math.geometry.Rotation2d.Rotation2d

(

@JsonProperty(required=true, value="radians") double

value

)

Constructs a Rotation2d with the given radian value.

Parameters

value

The value of the angle in radians.

Rotation2d() [3/4]

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

Constructs a Rotation2d with the given x and y (cosine and sine) components.

Parameters

x	The x component or cosine of the rotation.
y	The y component or sine of the rotation.

Rotation2d() [4/4]

edu.wpi.first.math.geometry.Rotation2d.Rotation2d

(

Measure< Angle >

angle

)

Constructs a Rotation2d with the given angle.

Parameters

angle

The angle of the rotation.

Member Function Documentation

div()

Rotation2d edu.wpi.first.math.geometry.Rotation2d.div

(

double

scalar

)

Divides the current rotation by a scalar.

Parameters

scalar

The scalar.

Returns

The new scaled Rotation2d.

equals()

boolean edu.wpi.first.math.geometry.Rotation2d.equals

(

Object

obj

)

Checks equality between this Rotation2d and another object.

Parameters

obj	The other object.

Returns

Whether the two objects are equal or not.

fromDegrees()

static Rotation2d edu.wpi.first.math.geometry.Rotation2d.fromDegrees ( double degrees )

static

Constructs and returns a Rotation2d with the given degree value.

Parameters

degrees

The value of the angle in degrees.

Returns

The rotation object with the desired angle value.

fromRadians()

static Rotation2d edu.wpi.first.math.geometry.Rotation2d.fromRadians ( double radians )

static

Constructs and returns a Rotation2d with the given radian value.

Parameters

radians

The value of the angle in radians.

Returns

The rotation object with the desired angle value.

fromRotations()

static Rotation2d edu.wpi.first.math.geometry.Rotation2d.fromRotations ( double rotations )

static

Constructs and returns a Rotation2d with the given number of rotations.

Parameters

rotations

The value of the angle in rotations.

Returns

The rotation object with the desired angle value.

getCos()

double edu.wpi.first.math.geometry.Rotation2d.getCos

(

)

Returns the cosine of the Rotation2d.

Returns

The cosine of the Rotation2d.

getDegrees()

double edu.wpi.first.math.geometry.Rotation2d.getDegrees

(

)

Returns the degree value of the Rotation2d.

Returns

The degree value of the Rotation2d.

See also

edu.wpi.first.math.MathUtil.inputModulus(double, double, double) to constrain the angle within (-180, 180]

getRadians()

double edu.wpi.first.math.geometry.Rotation2d.getRadians

(

)

Returns the radian value of the Rotation2d.

Returns

The radian value of the Rotation2d.

See also

edu.wpi.first.math.MathUtil.angleModulus(double) to constrain the angle within (-pi, pi]

getRotations()

double edu.wpi.first.math.geometry.Rotation2d.getRotations

(

)

Returns the number of rotations of the Rotation2d.

Returns

The number of rotations of the Rotation2d.

getSin()

double edu.wpi.first.math.geometry.Rotation2d.getSin

(

)

Returns the sine of the Rotation2d.

Returns

The sine of the Rotation2d.

getTan()

double edu.wpi.first.math.geometry.Rotation2d.getTan

(

)

Returns the tangent of the Rotation2d.

Returns

The tangent of the Rotation2d.

minus()

Rotation2d edu.wpi.first.math.geometry.Rotation2d.minus

(

Rotation2d

other

)

Subtracts the new rotation from the current rotation and returns the new rotation.

For example, Rotation2d.fromDegrees(10).minus(Rotation2d.fromDegrees(100)) equals Rotation2d(-Math.PI/2.0)

Parameters

other

The rotation to subtract.

Returns

The difference between the two rotations.

plus()

Rotation2d edu.wpi.first.math.geometry.Rotation2d.plus

(

Rotation2d

other

)

Adds two rotations together, with the result being bounded between -pi and pi.

For example, Rotation2d.fromDegrees(30).plus(Rotation2d.fromDegrees(60)) equals Rotation2d(Math.PI/2.0)

Parameters

other

The rotation to add.

Returns

The sum of the two rotations.

rotateBy()

Rotation2d edu.wpi.first.math.geometry.Rotation2d.rotateBy

(

Rotation2d

other

)

Adds the new rotation to the current rotation using a rotation matrix.

The matrix multiplication is as follows:

[cos_new]   [other.cos, -other.sin][cos]
[sin_new] = [other.sin,  other.cos][sin]
value_new = atan2(sin_new, cos_new)

Parameters

other

The rotation to rotate by.

Returns

The new rotated Rotation2d.

times()

Rotation2d edu.wpi.first.math.geometry.Rotation2d.times

(

double

scalar

)

Multiplies the current rotation by a scalar.

Parameters

scalar

The scalar.

Returns

The new scaled Rotation2d.

unaryMinus()

Rotation2d edu.wpi.first.math.geometry.Rotation2d.unaryMinus

(

)

Takes the inverse of the current rotation. This is simply the negative of the current angular value.

Returns

The inverse of the current rotation.

Member Data Documentation

proto

final Rotation2dProto edu.wpi.first.math.geometry.Rotation2d.proto = new Rotation2dProto()

static

Rotation2d protobuf for serialization.

struct

final Rotation2dStruct edu.wpi.first.math.geometry.Rotation2d.struct = new Rotation2dStruct()

static

Rotation2d 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/Rotation2d.java