Package edu.wpi.first.math.geometry

Class CoordinateSystem

java.lang.Object

edu.wpi.first.math.geometry.CoordinateSystem

public class CoordinateSystem
extends Object

A helper class that converts Pose3d objects between different standard coordinate frames.

Constructor Summary

Constructors

Constructor	Description
CoordinateSystem(CoordinateAxis positiveX, CoordinateAxis positiveY, CoordinateAxis positiveZ)	Constructs a coordinate system with the given cardinal directions for each axis.

Method Summary

Modifier and Type	Method	Description
static Pose3d	convert(Pose3d pose, CoordinateSystem from, CoordinateSystem to)	Converts the given pose from one coordinate system to another.
static Rotation3d	convert(Rotation3d rotation, CoordinateSystem from, CoordinateSystem to)	Converts the given rotation from one coordinate system to another.
static Transform3d	convert(Transform3d transform, CoordinateSystem from, CoordinateSystem to)	Converts the given transform from one coordinate system to another.
static Translation3d	convert(Translation3d translation, CoordinateSystem from, CoordinateSystem to)	Converts the given translation from one coordinate system to another.
static CoordinateSystem	EDN()	Returns an instance of the East-Down-North (EDN) coordinate system.
static CoordinateSystem	NED()	Returns an instance of the North-East-Down (NED) coordinate system.
static CoordinateSystem	NWU()	Returns an instance of the North-West-Up (NWU) coordinate system.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

CoordinateSystem

public CoordinateSystem(CoordinateAxis positiveX, CoordinateAxis positiveY, CoordinateAxis positiveZ)

Constructs a coordinate system with the given cardinal directions for each axis.

Parameters:

positiveX - The cardinal direction of the positive x-axis.

positiveY - The cardinal direction of the positive y-axis.

positiveZ - The cardinal direction of the positive z-axis.

Throws:

IllegalArgumentException - if the coordinate system isn't special orthogonal

Method Details

NWU

public static CoordinateSystem NWU()

Returns an instance of the North-West-Up (NWU) coordinate system.

The +X axis is north, the +Y axis is west, and the +Z axis is up.

Returns:

An instance of the North-West-Up (NWU) coordinate system.

EDN

public static CoordinateSystem EDN()

Returns an instance of the East-Down-North (EDN) coordinate system.

The +X axis is east, the +Y axis is down, and the +Z axis is north.

Returns:

An instance of the East-Down-North (EDN) coordinate system.

NED

public static CoordinateSystem NED()

Returns an instance of the North-East-Down (NED) coordinate system.

The +X axis is north, the +Y axis is east, and the +Z axis is down.

Returns:

An instance of the North-East-Down (NED) coordinate system.

convert

public static Translation3d convert(Translation3d translation, CoordinateSystem from, CoordinateSystem to)

Converts the given translation from one coordinate system to another.

Parameters:

translation - The translation to convert.

from - The coordinate system the pose starts in.

to - The coordinate system to which to convert.

Returns:

The given translation in the desired coordinate system.

convert

public static Rotation3d convert(Rotation3d rotation, CoordinateSystem from, CoordinateSystem to)

Converts the given rotation from one coordinate system to another.

Parameters:

rotation - The rotation to convert.

from - The coordinate system the rotation starts in.

to - The coordinate system to which to convert.

Returns:

The given rotation in the desired coordinate system.

convert

public static Pose3d convert(Pose3d pose, CoordinateSystem from, CoordinateSystem to)

Converts the given pose from one coordinate system to another.

Parameters:

pose - The pose to convert.

from - The coordinate system the pose starts in.

to - The coordinate system to which to convert.

Returns:

The given pose in the desired coordinate system.

convert

public static Transform3d convert(Transform3d transform, CoordinateSystem from, CoordinateSystem to)

Converts the given transform from one coordinate system to another.

Parameters:

transform - The transform to convert.

from - The coordinate system the transform starts in.

to - The coordinate system to which to convert.

Returns:

The given transform in the desired coordinate system.