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

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This commit is contained in:
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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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.
*