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[wpimath] Add two-vector Rotation3d constructor (#4398)

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This is useful for turning a 3D vector into an orientation relative a
coordinate system vector.
This commit is contained in:
Tyler Veness
2022-09-04 13:16:29 -07:00
committed by GitHub
parent 20b5bed1cb
commit 5149f7d894
5 changed files with 216 additions and 4 deletions
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12
wpimath/src/main/native/include/frc/geometry/Rotation3d.h
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@@ -51,6 +51,18 @@ class WPILIB_DLLEXPORT Rotation3d {
*/
Rotation3d(const Vectord<3>& axis, units::radian_t angle);
/**
* Constructs a Rotation3d that rotates the initial vector onto the final
* vector.
*
* This is useful for turning a 3D vector (final) into an orientation relative
* to a coordinate system vector (initial).
*
* @param initial The initial vector.
* @param final The final vector.
*/
Rotation3d(const Vectord<3>& initial, const Vectord<3>& final);
/**
* Adds two rotations together.
*