Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Correct Rotation3d::RotateBy doc comment (NFC) (#5541)

Browse Source 
Improve transform doc comment consistency
This commit is contained in:
Joseph Eng
2023-08-15 13:12:09 -07:00
committed by GitHub
parent 186b409e16
commit 7a37e3a496
5 changed files with 18 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
View File

@@ -278,13 +278,14 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
}
/**
* Adds the new rotation to the current rotation. The other rotation is applied intrinsically,
* which means that it rotates around the axes after applying this rotation. For example, {@code
* new Rotation3d(Units.degreesToRadians(90), 0, 0).rotateBy(new Rotation3d(0,
* Units.degreesToRadians(90), 0))} rotates by 90 degrees around the +X axis and then by 90
* degrees around the new +Y axis (which has been moved to the +Z axis).
* Adds the new rotation to the current rotation. The other rotation is applied extrinsically,
* which means that it rotates around the global axes. For example, {@code new
* Rotation3d(Units.degreesToRadians(90), 0, 0).rotateBy(new Rotation3d(0,
* Units.degreesToRadians(45), 0))} rotates by 90 degrees around the +X axis and then by 45
* degrees around the global +Y axis. (This is equivalent to {@code new
* Rotation3d(Units.degreesToRadians(90), Units.degreesToRadians(45), 0)})
*
* @param other The intrinsic rotation to rotate by.
* @param other The extrinsic rotation to rotate by.
* @return The new rotated Rotation3d.
*/
public Rotation3d rotateBy(Rotation3d other) {

3
wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java
View File

@@ -67,7 +67,8 @@ public class Transform2d {
}
/**
* Composes two transformations.
* Composes two transformations. The second transform is applied relative to the orientation of
* the first.
*
* @param other The transform to compose with this one.
* @return The composition of the two transformations.