frc::Rotation2d Class Reference

A rotation in a 2d coordinate frame represented a point on the unit circle (cosine and sine). More...

#include <Rotation2d.h>

Public Member Functions
constexpr	Rotation2d ()=default
	Constructs a Rotation2d with a default angle of 0 degrees.
	Rotation2d (units::radian_t value)
	Constructs a Rotation2d with the given radian value. More...
	Rotation2d (units::degree_t value)
	Constructs a Rotation2d with the given degree value. More...
	Rotation2d (double x, double y)
	Constructs a Rotation2d with the given x and y (cosine and sine) components. More...
Rotation2d	operator+ (const Rotation2d &other) const
	Adds two rotations together, with the result being bounded between -pi and pi. More...
Rotation2d &	operator+= (const Rotation2d &other)
	Adds a rotation to the current rotation. More...
Rotation2d	operator- (const Rotation2d &other) const
	Subtracts the new rotation from the current rotation and returns the new rotation. More...
Rotation2d &	operator-= (const Rotation2d &other)
	Subtracts the new rotation from the current rotation. More...
Rotation2d	operator- () const
	Takes the inverse of the current rotation. More...
Rotation2d	operator* (double scalar) const
	Multiplies the current rotation by a scalar. More...
bool	operator== (const Rotation2d &other) const
	Checks equality between this Rotation2d and another object. More...
bool	operator!= (const Rotation2d &other) const
	Checks inequality between this Rotation2d and another object. More...
Rotation2d	RotateBy (const Rotation2d &other) const
	Adds the new rotation to the current rotation using a rotation matrix. More...
units::radian_t	Radians () const
	Returns the radian value of the rotation. More...
units::degree_t	Degrees () const
	Returns the degree value of the rotation. More...
double	Cos () const
	Returns the cosine of the rotation. More...
double	Sin () const
	Returns the sine of the rotation. More...
double	Tan () const
	Returns the tangent of the rotation. More...

Detailed Description

A rotation in a 2d coordinate frame represented a point on the unit circle (cosine and sine).

Constructor & Destructor Documentation

Rotation2d() [1/3]

frc::Rotation2d::Rotation2d

(

units::radian_t

value

)

Constructs a Rotation2d with the given radian value.

Parameters

value

The value of the angle in radians.

Rotation2d() [2/3]

frc::Rotation2d::Rotation2d

(

units::degree_t

value

)

Constructs a Rotation2d with the given degree value.

Parameters

value

The value of the angle in degrees.

Rotation2d() [3/3]

frc::Rotation2d::Rotation2d	(	double	x,
		double	y
	)

Constructs a Rotation2d with the given x and y (cosine and sine) components.

The x and y don't have to be normalized.

Parameters

x	The x component or cosine of the rotation.
y	The y component or sine of the rotation.

Member Function Documentation

Cos()

double frc::Rotation2d::Cos ( ) const

inline

Returns the cosine of the rotation.

Returns

The cosine of the rotation.

Degrees()

units::degree_t frc::Rotation2d::Degrees ( ) const

inline

Returns the degree value of the rotation.

Returns

The degree value of the rotation.

operator!=()

bool frc::Rotation2d::operator!=

(

const Rotation2d &

other

)

const

Checks inequality between this Rotation2d and another object.

Parameters

other

The other object.

Returns

Whether the two objects are not equal.

operator*()

Rotation2d frc::Rotation2d::operator*

(

double

scalar

)

const

Multiplies the current rotation by a scalar.

Parameters

scalar

The scalar.

Returns

The new scaled Rotation2d.

operator+()

Rotation2d frc::Rotation2d::operator+

(

const Rotation2d &

other

)

const

Adds two rotations together, with the result being bounded between -pi and pi.

For example, Rotation2d.FromDegrees(30) + Rotation2d.FromDegrees(60) = Rotation2d{-pi/2}

Parameters

other

The rotation to add.

Returns

The sum of the two rotations.

operator+=()

Rotation2d& frc::Rotation2d::operator+=

(

const Rotation2d &

other

)

Adds a rotation to the current rotation.

This is similar to the + operator except that it mutates the current object.

Parameters

other

The rotation to add.

Returns

The reference to the new mutated object.

operator-() [1/2]

Rotation2d frc::Rotation2d::operator-

(

)

const

Takes the inverse of the current rotation.

This is simply the negative of the current angular value.

Returns

The inverse of the current rotation.

operator-() [2/2]

Rotation2d frc::Rotation2d::operator-

(

const Rotation2d &

other

)

const

Subtracts the new rotation from the current rotation and returns the new rotation.

For example, Rotation2d.FromDegrees(10) - Rotation2d.FromDegrees(100) = Rotation2d{-pi/2}

Parameters

other

The rotation to subtract.

Returns

The difference between the two rotations.

operator-=()

Rotation2d& frc::Rotation2d::operator-=

(

const Rotation2d &

other

)

Subtracts the new rotation from the current rotation.

This is similar to the - operator except that it mutates the current object.

Parameters

other

The rotation to subtract.

Returns

The reference to the new mutated object.

operator==()

bool frc::Rotation2d::operator==

(

const Rotation2d &

other

)

const

Checks equality between this Rotation2d and another object.

Parameters

other

The other object.

Returns

Whether the two objects are equal.

Radians()

units::radian_t frc::Rotation2d::Radians ( ) const

inline

Returns the radian value of the rotation.

Returns

The radian value of the rotation.

RotateBy()

Rotation2d frc::Rotation2d::RotateBy

(

const Rotation2d &

other

)

const

Adds the new rotation to the current rotation using a rotation matrix.

[cos_new] [other.cos, -other.sin][cos] [sin_new] = [other.sin, other.cos][sin]

value_new = std::atan2(cos_new, sin_new)

Parameters

other

The rotation to rotate by.

Returns

The new rotated Rotation2d.

Sin()

double frc::Rotation2d::Sin ( ) const

inline

Returns the sine of the rotation.

Returns

The sine of the rotation.

Tan()

double frc::Rotation2d::Tan ( ) const

inline

Returns the tangent of the rotation.

Returns

The tangent of the rotation.

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

• /home/runner/work/allwpilib/allwpilib/wpimath/src/main/native/include/frc/geometry/Rotation2d.h