Class Transform2d

java.lang.Object
org.wpilib.math.geometry.Transform2d
All Implemented Interfaces:
ProtobufSerializable, StructSerializable, WPISerializable
public final class Transform2d extends Object implements ProtobufSerializable, StructSerializable
Represents a transformation for a Pose2d in the pose's frame.

Transforms are applied intrinsically, i.e. relative to the pose's own frame rather than the global frame. This is in contrast to the rotation classes, which apply rotations extrinsically.

  • Field Details

    • ZERO

      public static final Transform2d ZERO
      A preallocated Transform2d representing no transformation.

      This exists to avoid allocations for common transformations.

    • proto

      public static final Transform2dProto proto
      Transform2d protobuf for serialization.

    • struct

      public static final Transform2dStruct struct
      Transform2d struct for serialization.

  • Constructor Details

    • Transform2d

      public Transform2d(Pose2d initial, Pose2d last)
      Constructs the transform that maps the initial pose to the final pose.
      Parameters:
      initial - The initial pose for the transformation.
      last - The final pose for the transformation.

    • Transform2d

      public Transform2d(Translation2d translation, Rotation2d rotation)
      Constructs a transform with the given translation and rotation components.
      Parameters:
      translation - Translational component of the transform.
      rotation - Rotational component of the transform.

    • Transform2d

      public Transform2d(double x, double y, Rotation2d rotation)
      Constructs a transform with x and y translations instead of a separate Translation2d.
      Parameters:
      x - The x component of the translational component of the transform.
      y - The y component of the translational component of the transform.
      rotation - The rotational component of the transform.

    • Transform2d

      public Transform2d(Distance x, Distance y, Rotation2d rotation)
      Constructs a transform 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 transform.
      y - The y component of the translational component of the transform.
      rotation - The rotational component of the transform.

    • Transform2d

      public Transform2d(Matrix<N3,N3> matrix)
      Constructs a transform with the specified affine transformation matrix.
      Parameters:
      matrix - The affine transformation matrix.
      Throws:
      IllegalArgumentException - if the affine transformation matrix is invalid.

    • Transform2d

      public Transform2d()
      Constructs the identity transform -- maps an initial pose to itself.

  • Method Details

    • times

      public Transform2d times(double scalar)
      Multiplies the transform by the scalar.
      Parameters:
      scalar - The scalar.
      Returns:
      The scaled Transform2d.

    • div

      public Transform2d div(double scalar)
      Divides the transform by the scalar.
      Parameters:
      scalar - The scalar.
      Returns:
      The scaled Transform2d.

    • plus

      public Transform2d plus(Transform2d other)
      Composes two transformations. The second transform is applied relative to the orientation of the first.
      Parameters:
      other - The transform to compose with this one.
      Returns:
      The composition of the two transformations.

    • getTranslation

      public Translation2d getTranslation()
      Returns the translation component of the transformation.
      Returns:
      The translational component of the transform.

    • getX

      public double getX()
      Returns the X component of the transformation's translation.
      Returns:
      The x component of the transformation's translation.

    • getY

      public double getY()
      Returns the Y component of the transformation's translation.
      Returns:
      The y component of the transformation's translation.

    • getMeasureX

      public Distance getMeasureX()
      Returns the X component of the transformation's translation in a measure.
      Returns:
      The x component of the transformation's translation in a measure.

    • getMeasureY

      public Distance getMeasureY()
      Returns the Y component of the transformation's translation in a measure.
      Returns:
      The y component of the transformation's translation in a measure.

    • toMatrix

      public Matrix<N3,N3> toMatrix()
      Returns an affine transformation matrix representation of this transformation.
      Returns:
      An affine transformation matrix representation of this transformation.

    • getRotation

      public Rotation2d getRotation()
      Returns the rotational component of the transformation.
      Returns:
      Reference to the rotational component of the transform.

    • log

      public Twist2d log()
      Returns a Twist2d of the current transform (pose delta). If b is the output of a.log(), then b.exp() would yield a.
      Returns:
      The twist that maps the current transform.

    • inverse

      public Transform2d inverse()
      Invert the transformation. This is useful for undoing a transformation.
      Returns:
      The inverted transformation.

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • equals

      public boolean equals(Object obj)
      Checks equality between this Transform2d and another object.
      Overrides:
      equals in class Object
      Parameters:
      obj - The other object.
      Returns:
      Whether the two objects are equal or not.

    • hashCode

      public int hashCode()
      Overrides:
      hashCode in class Object