Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-28 02:11:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Add affine transformation constructors and getters to geometry API (#7430)

Browse Source 
Fixes #7429.
This commit is contained in:
Tyler Veness
2024-12-07 15:49:17 -08:00
committed by GitHub
parent f772bb141d
commit e222efaa01
32 changed files with 615 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
wpimath/src/main/native/include/frc/geometry/Translation3d.h
View File

@@ -56,10 +56,10 @@ class WPILIB_DLLEXPORT Translation3d {
}
/**
* Constructs a Translation3d from the provided translation vector's X, Y, and
* Z components. The values are assumed to be in meters.
* Constructs a Translation3d from a 3D translation vector. The values are
* assumed to be in meters.
*
* @param vector The translation vector to represent.
* @param vector The translation vector.
*/
constexpr explicit Translation3d(const Eigen::Vector3d& vector)
: m_x{units::meter_t{vector.x()}},
@@ -114,9 +114,9 @@ class WPILIB_DLLEXPORT Translation3d {
constexpr units::meter_t Z() const { return m_z; }
/**
* Returns a vector representation of this translation.
* Returns a 3D translation vector representation of this translation.
*
* @return A Vector representation of this translation.
* @return A 3D translation vector representation of this translation.
*/
constexpr Eigen::Vector3d ToVector() const {
return Eigen::Vector3d{{m_x.value(), m_y.value(), m_z.value()}};