Package edu.wpi.first.math.geometry

Class Twist3d

java.lang.Object
edu.wpi.first.math.geometry.Twist3d
public class Twist3d
extends Object
A change in distance along a 3D arc since the last pose update. We can use ideas from differential calculus to create new Pose3ds from a Twist3d and vise versa.

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

  • Field Summary

    Fields 
    Modifier and Type Field Description
    double dx
    Linear "dx" component.
    double dy
    Linear "dy" component.
    double dz
    Linear "dz" component.
    double rx
    Rotation vector x component (radians).
    double ry
    Rotation vector y component (radians).
    double rz
    Rotation vector z component (radians).

  • Constructor Summary

    Constructors 
    Constructor Description
    Twist3d()  
    Twist3d​(double dx, double dy, double dz, double rx, double ry, double rz)
    Constructs a Twist3d with the given values.

  • Method Summary

    Modifier and Type Method Description
    boolean equals​(Object obj)
    Checks equality between this Twist3d and another object.
    int hashCode()  
    String toString()  

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, wait, wait, wait

  • Field Details

    • dx

      public double dx
      Linear "dx" component.

    • dy

      public double dy
      Linear "dy" component.

    • dz

      public double dz
      Linear "dz" component.

    • rx

      public double rx
      Rotation vector x component (radians).

    • ry

      public double ry
      Rotation vector y component (radians).

    • rz

      public double rz
      Rotation vector z component (radians).

  • Constructor Details

    • Twist3d

      public Twist3d()

    • Twist3d

      public Twist3d​(double dx, double dy, double dz, double rx, double ry, double rz)
      Constructs a Twist3d with the given values.
      Parameters:
      dx - Change in x direction relative to robot.
      dy - Change in y direction relative to robot.
      dz - Change in z direction relative to robot.
      rx - Rotation vector x component.
      ry - Rotation vector y component.
      rz - Rotation vector z component.

  • Method Details