Class Translation2d

java.lang.Object
edu.wpi.first.math.geometry.Translation2d
All Implemented Interfaces:
Interpolatable<Translation2d>

public class Translation2d
extends Object
implements Interpolatable<Translation2d>
Represents a translation in 2D space. This object can be used to represent a point or a vector.

This assumes that you are using conventional mathematical axes. When the robot is at the origin facing in the positive X direction, forward is positive X and left is positive Y.

  • Constructor Details

    • Translation2d

      public Translation2d()
      Constructs a Translation2d with X and Y components equal to zero.
    • Translation2d

      public Translation2d​(double x, double y)
      Constructs a Translation2d with the X and Y components equal to the provided values.
      Parameters:
      x - The x component of the translation.
      y - The y component of the translation.
    • Translation2d

      public Translation2d​(double distance, Rotation2d angle)
      Constructs a Translation2d with the provided distance and angle. This is essentially converting from polar coordinates to Cartesian coordinates.
      Parameters:
      distance - The distance from the origin to the end of the translation.
      angle - The angle between the x-axis and the translation vector.
  • Method Details

    • getDistance

      public double getDistance​(Translation2d other)
      Calculates the distance between two translations in 2D space.

      The distance between translations is defined as √((x₂−x₁)²+(y₂−y₁)²).

      Parameters:
      other - The translation to compute the distance to.
      Returns:
      The distance between the two translations.
    • getX

      public double getX()
      Returns the X component of the translation.
      Returns:
      The X component of the translation.
    • getY

      public double getY()
      Returns the Y component of the translation.
      Returns:
      The Y component of the translation.
    • getNorm

      public double getNorm()
      Returns the norm, or distance from the origin to the translation.
      Returns:
      The norm of the translation.
    • getAngle

      public Rotation2d getAngle()
      Returns the angle this translation forms with the positive X axis.
      Returns:
      The angle of the translation
    • rotateBy

      public Translation2d rotateBy​(Rotation2d other)
      Applies a rotation to the translation in 2D space.

      This multiplies the translation vector by a counterclockwise rotation matrix of the given angle.

       [x_new]   [other.cos, -other.sin][x]
       [y_new] = [other.sin,  other.cos][y]
       

      For example, rotating a Translation2d of <2, 0> by 90 degrees will return a Translation2d of <0, 2>.

      Parameters:
      other - The rotation to rotate the translation by.
      Returns:
      The new rotated translation.
    • plus

      public Translation2d plus​(Translation2d other)
      Returns the sum of two translations in 2D space.

      For example, Translation3d(1.0, 2.5) + Translation3d(2.0, 5.5) = Translation3d{3.0, 8.0).

      Parameters:
      other - The translation to add.
      Returns:
      The sum of the translations.
    • minus

      public Translation2d minus​(Translation2d other)
      Returns the difference between two translations.

      For example, Translation2d(5.0, 4.0) - Translation2d(1.0, 2.0) = Translation2d(4.0, 2.0).

      Parameters:
      other - The translation to subtract.
      Returns:
      The difference between the two translations.
    • unaryMinus

      Returns the inverse of the current translation. This is equivalent to rotating by 180 degrees, flipping the point over both axes, or negating all components of the translation.
      Returns:
      The inverse of the current translation.
    • times

      public Translation2d times​(double scalar)
      Returns the translation multiplied by a scalar.

      For example, Translation2d(2.0, 2.5) * 2 = Translation2d(4.0, 5.0).

      Parameters:
      scalar - The scalar to multiply by.
      Returns:
      The scaled translation.
    • div

      public Translation2d div​(double scalar)
      Returns the translation divided by a scalar.

      For example, Translation3d(2.0, 2.5) / 2 = Translation3d(1.0, 1.25).

      Parameters:
      scalar - The scalar to multiply by.
      Returns:
      The reference to the new mutated object.
    • nearest

      public Translation2d nearest​(List<Translation2d> translations)
      Returns the nearest Translation2d from a list of translations.
      Parameters:
      translations - The list of translations.
      Returns:
      The nearest Translation2d from the list.
    • toString

      public String toString()
      Overrides:
      toString in class Object
    • equals

      public boolean equals​(Object obj)
      Checks equality between this Translation2d and another object.
      Overrides:
      equals in class Object
      Parameters:
      obj - The other object.
      Returns:
      Whether the two objects are equal or not.
    • hashCode

      public int hashCode()
      Overrides:
      hashCode in class Object
    • interpolate

      public Translation2d interpolate​(Translation2d endValue, double t)
      Description copied from interface: Interpolatable
      Return the interpolated value. This object is assumed to be the starting position, or lower bound.
      Specified by:
      interpolate in interface Interpolatable<Translation2d>
      Parameters:
      endValue - The upper bound, or end.
      t - How far between the lower and upper bound we are. This should be bounded in [0, 1].
      Returns:
      The interpolated value.