frc::Transform2d Class Reference

Represents a transformation for a Pose2d. More...

#include <frc/geometry/Transform2d.h>

Public Member Functions
	Transform2d (Pose2d initial, Pose2d final)
	Constructs the transform that maps the initial pose to the final pose. More...
constexpr	Transform2d (Translation2d translation, Rotation2d rotation)
	Constructs a transform with the given translation and rotation components. More...
constexpr	Transform2d ()=default
	Constructs the identity transform – maps an initial pose to itself. More...
constexpr const Translation2d &	Translation () const
	Returns the translation component of the transformation. More...
constexpr units::meter_t	X () const
	Returns the X component of the transformation's translation. More...
constexpr units::meter_t	Y () const
	Returns the Y component of the transformation's translation. More...
constexpr const Rotation2d &	Rotation () const
	Returns the rotational component of the transformation. More...
constexpr Transform2d	Inverse () const
	Invert the transformation. More...
constexpr Transform2d	operator* (double scalar) const
	Multiplies the transform by the scalar. More...
constexpr Transform2d	operator/ (double scalar) const
	Divides the transform by the scalar. More...
Transform2d	operator+ (const Transform2d &other) const
	Composes two transformations. More...
bool	operator== (const Transform2d &) const =default
	Checks equality between this Transform2d and another object. More...

Detailed Description

Represents a transformation for a Pose2d.

Constructor & Destructor Documentation

Transform2d() [1/3]

frc::Transform2d::Transform2d	(	Pose2d	initial,
		Pose2d	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.

Transform2d() [2/3]

constexpr frc::Transform2d::Transform2d ( Translation2d  translation, Rotation2d  rotation  )

constexpr

Constructs a transform with the given translation and rotation components.

Parameters

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

Transform2d() [3/3]

constexpr frc::Transform2d::Transform2d ( )

constexprdefault

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

Member Function Documentation

Inverse()

constexpr Transform2d frc::Transform2d::Inverse ( ) const

constexpr

Invert the transformation.

This is useful for undoing a transformation.

Returns

The inverted transformation.

operator*()

constexpr Transform2d frc::Transform2d::operator* ( double  scalar ) const

inlineconstexpr

Multiplies the transform by the scalar.

Parameters

scalar

The scalar.

Returns

The scaled Transform2d.

operator+()

Transform2d frc::Transform2d::operator+

(

const Transform2d &

other

)

const

Composes two transformations.

Parameters

other

The transform to compose with this one.

Returns

The composition of the two transformations.

operator/()

constexpr Transform2d frc::Transform2d::operator/ ( double  scalar ) const

inlineconstexpr

Divides the transform by the scalar.

Parameters

scalar

The scalar.

Returns

The scaled Transform2d.

operator==()

bool frc::Transform2d::operator== ( const Transform2d &  ) const

default

Checks equality between this Transform2d and another object.

Rotation()

constexpr const Rotation2d & frc::Transform2d::Rotation ( ) const

inlineconstexpr

Returns the rotational component of the transformation.

Returns

Reference to the rotational component of the transform.

Translation()

constexpr const Translation2d & frc::Transform2d::Translation ( ) const

inlineconstexpr

Returns the translation component of the transformation.

Returns

Reference to the translational component of the transform.

X()

constexpr units::meter_t frc::Transform2d::X ( ) const

inlineconstexpr

Returns the X component of the transformation's translation.

Returns

The x component of the transformation's translation.

Y()

constexpr units::meter_t frc::Transform2d::Y ( ) const

inlineconstexpr

Returns the Y component of the transformation's translation.

Returns

The y component of the transformation's translation.

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

• frc/geometry/Transform2d.h
• frc/geometry/Transform2d.inc