Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Add CoordinateSystem conversion for Transform3d (#4443)

Browse Source 
I also refactored Pose3d's conversion implementation to use the
Translation3d and Rotation3d conversions, thereby giving Translation3d
and Rotation3d test coverage. No changes were made to the expected
values of the Pose3d conversion tests.

The expected values of the Transform3d conversion tests were copied from
the Pose3d conversion tests without modification.
This commit is contained in:
Tyler Veness
2022-10-01 21:09:04 -07:00
committed by GitHub
parent 38bb23eb18
commit b53b3526a2
5 changed files with 287 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
wpimath/src/main/native/include/frc/geometry/CoordinateSystem.h
View File

@@ -94,6 +94,18 @@ class WPILIB_DLLEXPORT CoordinateSystem {
static Pose3d Convert(const Pose3d& pose, const CoordinateSystem& from,
const CoordinateSystem& to);
/**
* Converts the given transform from one coordinate system to another.
*
* @param transform The transform to convert.
* @param from The coordinate system the transform starts in.
* @param to The coordinate system to which to convert.
* @return The given transform in the desired coordinate system.
*/
static Transform3d Convert(const Transform3d& transform,
const CoordinateSystem& from,
const CoordinateSystem& to);
private:
// Rotation from this coordinate system to NWU coordinate system
Rotation3d m_rotation;