Class Transform2d

java.lang.Object
edu.wpi.first.wpilibj.geometry.Transform2d

public class Transform2d
extends Object
Represents a transformation for a Pose2d.
  • Constructor Details

    • Transform2d

      public Transform2d​(Pose2d initial, Pose2d last)
      Constructs the transform that maps the initial pose to the final pose.
      Parameters:
      initial - The initial pose for the transformation.
      last - The final pose for the transformation.
    • Transform2d

      public Transform2d​(Translation2d translation, Rotation2d rotation)
      Constructs a transform with the given translation and rotation components.
      Parameters:
      translation - Translational component of the transform.
      rotation - Rotational component of the transform.
    • Transform2d

      public Transform2d()
      Constructs the identity transform -- maps an initial pose to itself.
  • Method Details

    • times

      public Transform2d times​(double scalar)
      Scales the transform by the scalar.
      Parameters:
      scalar - The scalar.
      Returns:
      The scaled Transform2d.
    • getTranslation

      public Translation2d getTranslation()
      Returns the translation component of the transformation.
      Returns:
      The translational component of the transform.
    • getX

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

      public double getY()
      Returns the Y component of the transformation's translation.
      Returns:
      The y component of the transformation's translation.
    • getRotation

      public Rotation2d getRotation()
      Returns the rotational component of the transformation.
      Returns:
      Reference to the rotational component of the transform.
    • inverse

      public Transform2d inverse()
      Invert the transformation. This is useful for undoing a transformation.
      Returns:
      The inverted transformation.
    • toString

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

      public boolean equals​(Object obj)
      Checks equality between this Transform2d 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