edu.wpi.first.math.geometry.Translation2d Class Reference

Inheritance diagram for edu.wpi.first.math.geometry.Translation2d:

Public Member Functions
	Translation2d ()
	Translation2d ( @JsonProperty(required=true, value="x") double x, @JsonProperty(required=true, value="y") double y)
	Translation2d (double distance, Rotation2d angle)
	Translation2d (Measure< Distance > x, Measure< Distance > y)
double	getDistance (Translation2d other)
double	getX ()
double	getY ()
double	getNorm ()
Rotation2d	getAngle ()
Translation2d	rotateBy (Rotation2d other)
Translation2d	plus (Translation2d other)
Translation2d	minus (Translation2d other)
Translation2d	unaryMinus ()
Translation2d	times (double scalar)
Translation2d	div (double scalar)
Translation2d	nearest (List< Translation2d > translations)
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 Translation2dProto	proto = new Translation2dProto()
static final Translation2dStruct	struct = new Translation2dStruct()

Detailed Description

Represents a translation in 2D space. This object can be used to represent a point or a vector.

This assumes that you are using conventional mathematical axes. When the robot is at the origin facing in the positive X direction, forward is positive X and left is positive Y.

Constructor & Destructor Documentation

Translation2d() [1/4]

edu.wpi.first.math.geometry.Translation2d.Translation2d

(

)

Constructs a Translation2d with X and Y components equal to zero.

Translation2d() [2/4]

edu.wpi.first.math.geometry.Translation2d.Translation2d	(	@JsonProperty(required=true, value="x") double	x,
		@JsonProperty(required=true, value="y") double	y )

Constructs a Translation2d with the X and Y components equal to the provided values.

Parameters

x	The x component of the translation.
y	The y component of the translation.

Translation2d() [3/4]

edu.wpi.first.math.geometry.Translation2d.Translation2d	(	double	distance,
		Rotation2d	angle )

Constructs a Translation2d with the provided distance and angle. This is essentially converting from polar coordinates to Cartesian coordinates.

Parameters

distance	The distance from the origin to the end of the translation.
angle	The angle between the x-axis and the translation vector.

Translation2d() [4/4]

edu.wpi.first.math.geometry.Translation2d.Translation2d	(	Measure< Distance >	x,
		Measure< Distance >	y )

Constructs a Translation2d with the X and Y components equal to the provided values. The X and Y components will be converted to and tracked as meters.

Parameters

x	The x component of the translation.
y	The y component of the translation.

Member Function Documentation

div()

Translation2d edu.wpi.first.math.geometry.Translation2d.div

(

double

scalar

)

Returns the translation divided by a scalar.

For example, Translation3d(2.0, 2.5) / 2 = Translation3d(1.0, 1.25).

Parameters

scalar

The scalar to multiply by.

Returns

The reference to the new mutated object.

equals()

boolean edu.wpi.first.math.geometry.Translation2d.equals

(

Object

obj

)

Checks equality between this Translation2d and another object.

Parameters

obj	The other object.

Returns

Whether the two objects are equal or not.

getAngle()

Rotation2d edu.wpi.first.math.geometry.Translation2d.getAngle

(

)

Returns the angle this translation forms with the positive X axis.

Returns

The angle of the translation

getDistance()

double edu.wpi.first.math.geometry.Translation2d.getDistance

(

Translation2d

other

)

Calculates the distance between two translations in 2D space.

The distance between translations is defined as √((x₂−x₁)²+(y₂−y₁)²).

Parameters

other

The translation to compute the distance to.

Returns

The distance between the two translations.

getNorm()

double edu.wpi.first.math.geometry.Translation2d.getNorm

(

)

Returns the norm, or distance from the origin to the translation.

Returns

The norm of the translation.

getX()

double edu.wpi.first.math.geometry.Translation2d.getX

(

)

Returns the X component of the translation.

Returns

The X component of the translation.

getY()

double edu.wpi.first.math.geometry.Translation2d.getY

(

)

Returns the Y component of the translation.

Returns

The Y component of the translation.

minus()

Translation2d edu.wpi.first.math.geometry.Translation2d.minus

(

Translation2d

other

)

Returns the difference between two translations.

For example, Translation2d(5.0, 4.0) - Translation2d(1.0, 2.0) = Translation2d(4.0, 2.0).

Parameters

other

The translation to subtract.

Returns

The difference between the two translations.

nearest()

Translation2d edu.wpi.first.math.geometry.Translation2d.nearest

(

List< Translation2d >

translations

)

Returns the nearest Translation2d from a list of translations.

Parameters

translations

The list of translations.

Returns

The nearest Translation2d from the list.

plus()

Translation2d edu.wpi.first.math.geometry.Translation2d.plus

(

Translation2d

other

)

Returns the sum of two translations in 2D space.

For example, Translation3d(1.0, 2.5) + Translation3d(2.0, 5.5) = Translation3d{3.0, 8.0).

Parameters

other

The translation to add.

Returns

The sum of the translations.

rotateBy()

Translation2d edu.wpi.first.math.geometry.Translation2d.rotateBy

(

Rotation2d

other

)

Applies a rotation to the translation in 2D space.

This multiplies the translation vector by a counterclockwise rotation matrix of the given angle.

[x_new]   [other.cos, -other.sin][x]
[y_new] = [other.sin,  other.cos][y]

For example, rotating a Translation2d of <2, 0> by 90 degrees will return a Translation2d of <0, 2>.

Parameters

other

The rotation to rotate the translation by.

Returns

The new rotated translation.

times()

Translation2d edu.wpi.first.math.geometry.Translation2d.times

(

double

scalar

)

Returns the translation multiplied by a scalar.

For example, Translation2d(2.0, 2.5) * 2 = Translation2d(4.0, 5.0).

Parameters

scalar

The scalar to multiply by.

Returns

The scaled translation.

unaryMinus()

Translation2d edu.wpi.first.math.geometry.Translation2d.unaryMinus

(

)

Returns the inverse of the current translation. This is equivalent to rotating by 180 degrees, flipping the point over both axes, or negating all components of the translation.

Returns

The inverse of the current translation.

Member Data Documentation

proto

final Translation2dProto edu.wpi.first.math.geometry.Translation2d.proto = new Translation2dProto()

static

Translation2d protobuf for serialization.

struct

final Translation2dStruct edu.wpi.first.math.geometry.Translation2d.struct = new Translation2dStruct()

static

Translation2d 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/Translation2d.java