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Add Transform2d::Inverse() (#2407)

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This is useful for undoing transformations. One application my FRC team
found was converting perspective n-point data from a "camera to target"
coordinate frame transformation to a "target to camera" coordinate frame
transformation.
This commit is contained in:
Tyler Veness
2020-03-14 22:01:52 -07:00
committed by GitHub
parent b6c163acd7
commit 3be83784cd
5 changed files with 99 additions and 3 deletions
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9
wpilibc/src/main/native/cpp/geometry/Transform2d.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -24,6 +24,13 @@ Transform2d::Transform2d(Pose2d initial, Pose2d final) {
Transform2d::Transform2d(Translation2d translation, Rotation2d rotation)
: m_translation(translation), m_rotation(rotation) {}
Transform2d Transform2d::Inverse() const {
// We are rotating the difference between the translations
// using a clockwise rotation matrix. This transforms the global
// delta into a local delta (relative to the initial pose).
return Transform2d{(-Translation()).RotateBy(-Rotation()), -Rotation()};
}
bool Transform2d::operator==(const Transform2d& other) const {
return m_translation == other.m_translation && m_rotation == other.m_rotation;
}