Inheritance diagram for edu.wpi.first.math.geometry.Twist2d:

Public Member Functions
	Twist2d ()

	Twist2d (double dx, double dy, double dtheta)

boolean	equals (Object obj)

Public Attributes
double	dx

double	dy

double	dtheta

Static Public Attributes
static final Twist2dProto	proto = new Twist2dProto()

static final Twist2dStruct	struct = new Twist2dStruct()

Detailed Description

A change in distance along a 2D arc since the last pose update. We can use ideas from differential calculus to create new Pose2d objects from a Twist2d and vice versa.

A Twist can be used to represent a difference between two poses.

Constructor & Destructor Documentation

◆ Twist2d() [1/2]

edu.wpi.first.math.geometry.Twist2d.Twist2d ( )

Default constructor.

◆ Twist2d() [2/2]

edu.wpi.first.math.geometry.Twist2d.Twist2d	(	double	dx,
		double	dy,
		double	dtheta )

Constructs a Twist2d with the given values.

Parameters

dx	Change in x direction relative to robot.
dy	Change in y direction relative to robot.
dtheta	Change in angle relative to robot.

Member Function Documentation

◆ equals()

boolean edu.wpi.first.math.geometry.Twist2d.equals ( Object obj )

Checks equality between this Twist2d and another object.

Parameters

obj	The other object.

Returns: Whether the two objects are equal or not.

Member Data Documentation

◆ dtheta

double edu.wpi.first.math.geometry.Twist2d.dtheta

Angular "dtheta" component (radians).

◆ dx

double edu.wpi.first.math.geometry.Twist2d.dx

Linear "dx" component.

◆ dy

double edu.wpi.first.math.geometry.Twist2d.dy

Linear "dy" component.

◆ proto

final Twist2dProto edu.wpi.first.math.geometry.Twist2d.proto = new Twist2dProto()

static

Twist2d protobuf for serialization.

◆ struct

final Twist2dStruct edu.wpi.first.math.geometry.Twist2d.struct = new Twist2dStruct()