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[wpimath] Add overloads for Transform2d and Transform3d (#5757)

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Adds overloads for Transform2d() constructor to accept x, y, and heading and for Transform3d() to accept x, y, z and rotation as a shorthand for the normal constructors.
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Anit Mangal
2023-10-13 11:51:39 +05:30
committed by GitHub
parent 9a0aafd8ab
commit c0b4c6cce6
6 changed files with 56 additions and 0 deletions
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wpimath/src/main/native/cpp/geometry/Transform3d.cpp
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@@ -21,6 +21,10 @@ Transform3d::Transform3d(Pose3d initial, Pose3d final) {
Transform3d::Transform3d(Translation3d translation, Rotation3d rotation)
: m_translation(std::move(translation)), m_rotation(std::move(rotation)) {}
Transform3d::Transform3d(units::meter_t x, units::meter_t y, units::meter_t z,
Rotation3d rotation)
: m_translation(x, y, z), m_rotation(std::move(rotation)) {}
Transform3d Transform3d::Inverse() const {
// We are rotating the difference between the translations
// using a clockwise rotation matrix. This transforms the global