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[wpimath] Add vector projection and geometry vector conversions (#6343)

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This commit is contained in:
Asa Paparo
2024-02-10 13:43:58 -05:00
committed by GitHub
parent 3207795d0d
commit 62cba9a4d3
21 changed files with 234 additions and 24 deletions
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16
wpimath/src/main/native/include/frc/geometry/Translation3d.h
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@@ -4,6 +4,7 @@
#pragma once
#include <Eigen/Core>
#include <wpi/SymbolExports.h>
#include <wpi/json_fwd.h>
@@ -47,6 +48,14 @@ class WPILIB_DLLEXPORT Translation3d {
*/
Translation3d(units::meter_t distance, const Rotation3d& angle);
/**
* Constructs a Translation3d from the provided translation vector's X, Y, and
* Z components. The values are assumed to be in meters.
*
* @param vector The translation vector to represent.
*/
explicit Translation3d(const Eigen::Vector3d& vector);
/**
* Calculates the distance between two translations in 3D space.
*
@@ -80,6 +89,13 @@ class WPILIB_DLLEXPORT Translation3d {
*/
constexpr units::meter_t Z() const { return m_z; }
/**
* Returns a vector representation of this translation.
*
* @return A Vector representation of this translation.
*/
constexpr Eigen::Vector3d ToVector() const;
/**
* Returns the norm, or distance from the origin to the translation.
*