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https://github.com/wpilibsuite/allwpilib
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27 lines
907 B
PHP
27 lines
907 B
PHP
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <utility>
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#include "frc/geometry/Rotation2d.h"
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#include "frc/geometry/Transform2d.h"
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#include "frc/geometry/Translation2d.h"
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namespace frc {
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constexpr Transform2d::Transform2d(Translation2d translation,
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Rotation2d rotation)
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: m_translation(std::move(translation)), m_rotation(std::move(rotation)) {}
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constexpr Transform2d Transform2d::Inverse() const {
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// We are rotating the difference between the translations
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// using a clockwise rotation matrix. This transforms the global
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// delta into a local delta (relative to the initial pose).
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return Transform2d{(-Translation()).RotateBy(-Rotation()), -Rotation()};
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}
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} // namespace frc
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