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Add transform methods to Trajectory (#2187)

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This commit is contained in:
Prateek Machiraju
2019-12-23 14:16:30 -05:00
committed by Peter Johnson
parent 67b59f2b31
commit 3259cffc63
5 changed files with 240 additions and 0 deletions
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22
wpilibc/src/main/native/include/frc/trajectory/Trajectory.h
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@@ -12,6 +12,7 @@
#include <units/units.h>
#include "frc/geometry/Pose2d.h"
#include "frc/geometry/Transform2d.h"
namespace wpi {
class json;
@@ -105,6 +106,27 @@ class Trajectory {
*/
State Sample(units::second_t t) const;
/**
* Transforms all poses in the trajectory by the given transform. This is
* useful for converting a robot-relative trajectory into a field-relative
* trajectory. This works with respect to the first pose in the trajectory.
*
* @param transform The transform to transform the trajectory by.
* @return The transformed trajectory.
*/
Trajectory TransformBy(const Transform2d& transform);
/**
* Transforms all poses in the trajectory so that they are relative to the
* given pose. This is useful for converting a field-relative trajectory
* into a robot-relative trajectory.
*
* @param pose The pose that is the origin of the coordinate frame that
* the current trajectory will be transformed into.
* @return The transformed trajectory.
*/
Trajectory RelativeTo(const Pose2d& pose);
/**
* Returns the initial pose of the trajectory.
*