frc::Transform3d Class Reference

Represents a transformation for a Pose3d. More...

#include <frc/geometry/Transform3d.h>

Public Member Functions
	Transform3d (Pose3d initial, Pose3d final)
	Constructs the transform that maps the initial pose to the final pose. More...
	Transform3d (Translation3d translation, Rotation3d rotation)
	Constructs a transform with the given translation and rotation components. More...
constexpr	Transform3d ()=default
	Constructs the identity transform – maps an initial pose to itself. More...
const Translation3d &	Translation () const
	Returns the translation component of the transformation. More...
units::meter_t	X () const
	Returns the X component of the transformation's translation. More...
units::meter_t	Y () const
	Returns the Y component of the transformation's translation. More...
units::meter_t	Z () const
	Returns the Z component of the transformation's translation. More...
const Rotation3d &	Rotation () const
	Returns the rotational component of the transformation. More...
Transform3d	Inverse () const
	Invert the transformation. More...
Transform3d	operator* (double scalar) const
	Multiplies the transform by the scalar. More...
Transform3d	operator/ (double scalar) const
	Divides the transform by the scalar. More...
Transform3d	operator+ (const Transform3d &other) const
	Composes two transformations. More...
bool	operator== (const Transform3d &) const =default
	Checks equality between this Transform3d and another object. More...

Detailed Description

Represents a transformation for a Pose3d.

Constructor & Destructor Documentation

Transform3d() [1/3]

frc::Transform3d::Transform3d	(	Pose3d	initial,
		Pose3d	final
	)

Constructs the transform that maps the initial pose to the final pose.

Parameters

initial	The initial pose for the transformation.
final	The final pose for the transformation.

Transform3d() [2/3]

frc::Transform3d::Transform3d	(	Translation3d	translation,
		Rotation3d	rotation
	)

Constructs a transform with the given translation and rotation components.

Parameters

translation	Translational component of the transform.
rotation	Rotational component of the transform.

Transform3d() [3/3]

constexpr frc::Transform3d::Transform3d ( )

constexprdefault

Constructs the identity transform – maps an initial pose to itself.

Member Function Documentation

Inverse()

Transform3d frc::Transform3d::Inverse

(

)

const

Invert the transformation.

This is useful for undoing a transformation.

Returns

The inverted transformation.

operator*()

Transform3d frc::Transform3d::operator* ( double  scalar ) const

inline

Multiplies the transform by the scalar.

Parameters

scalar

The scalar.

Returns

The scaled Transform3d.

operator+()

Transform3d frc::Transform3d::operator+

(

const Transform3d &

other

)

const

Composes two transformations.

Parameters

other

The transform to compose with this one.

Returns

The composition of the two transformations.

operator/()

Transform3d frc::Transform3d::operator/ ( double  scalar ) const

inline

Divides the transform by the scalar.

Parameters

scalar

The scalar.

Returns

The scaled Transform3d.

operator==()

bool frc::Transform3d::operator== ( const Transform3d &  ) const

default

Checks equality between this Transform3d and another object.

Rotation()

const Rotation3d & frc::Transform3d::Rotation ( ) const

inline

Returns the rotational component of the transformation.

Returns

Reference to the rotational component of the transform.

Translation()

const Translation3d & frc::Transform3d::Translation ( ) const

inline

Returns the translation component of the transformation.

Returns

Reference to the translational component of the transform.

X()

units::meter_t frc::Transform3d::X ( ) const

inline

Returns the X component of the transformation's translation.

Returns

The x component of the transformation's translation.

Y()

units::meter_t frc::Transform3d::Y ( ) const

inline

Returns the Y component of the transformation's translation.

Returns

The y component of the transformation's translation.

Z()

units::meter_t frc::Transform3d::Z ( ) const

inline

Returns the Z component of the transformation's translation.

Returns

The z component of the transformation's translation.

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The documentation for this class was generated from the following file:

• frc/geometry/Transform3d.h