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[wpimath] Document extrinsic vs intrinsic rotations (NFC) (#5508)

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Joseph Eng
2023-08-06 19:59:42 -07:00
committed by GitHub
parent 84ed8aec05
commit b5bd0771eb
8 changed files with 37 additions and 15 deletions
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12
wpimath/src/main/native/include/frc/geometry/Pose3d.h
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@@ -56,7 +56,9 @@ class WPILIB_DLLEXPORT Pose3d {
/**
* Transforms the pose by the given transformation and returns the new
* transformed pose.
* transformed pose. The transform is applied relative to the pose's frame.
* Note that this differs from Pose3d::RotateBy(const Rotation3d&), which is
* applied relative to the global frame and around the origin.
*
* @param other The transform to transform the pose by.
*
@@ -133,14 +135,18 @@ class WPILIB_DLLEXPORT Pose3d {
/**
* Rotates the pose around the origin and returns the new pose.
*
* @param other The rotation to transform the pose by.
* @param other The rotation to transform the pose by, which is applied
* extrinsically (from the global frame).
*
* @return The rotated pose.
*/
Pose3d RotateBy(const Rotation3d& other) const;
/**
* Transforms the pose by the given transformation and returns the new pose.
* Transforms the pose by the given transformation and returns the new
* transformed pose. The transform is applied relative to the pose's frame.
* Note that this differs from Pose3d::RotateBy(const Rotation3d&), which is
* applied relative to the global frame and around the origin.
*
* @param other The transform to transform the pose by.
*

6
wpimath/src/main/native/include/frc/geometry/Rotation3d.h
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@@ -138,7 +138,11 @@ class WPILIB_DLLEXPORT Rotation3d {
bool operator==(const Rotation3d&) const = default;
/**
* Adds the new rotation to the current rotation.
* 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, Rotation3d{90_deg, 0, 0}.RotateBy(
* Rotation3d{0, 90_deg, 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).
*
* @param other The rotation to rotate by.
*

2
wpimath/src/main/native/include/frc/geometry/Transform2d.h
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@@ -13,7 +13,7 @@ namespace frc {
class WPILIB_DLLEXPORT Pose2d;
/**
* Represents a transformation for a Pose2d.
* Represents a transformation for a Pose2d in the pose's frame.
*/
class WPILIB_DLLEXPORT Transform2d {
public:

2
wpimath/src/main/native/include/frc/geometry/Transform3d.h
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@@ -13,7 +13,7 @@ namespace frc {
class WPILIB_DLLEXPORT Pose3d;
/**
* Represents a transformation for a Pose3d.
* Represents a transformation for a Pose3d in the pose's frame.
*/
class WPILIB_DLLEXPORT Transform3d {
public: