extra_includes:
- rpy/geometryToString.h
- wpystruct.h

classes:
  frc::Transform3d:
    methods:
      Transform3d:
        overloads:
          const Pose3d&, const Pose3d&:
            keepalive: []
          Translation3d, Rotation3d:
          units::meter_t, units::meter_t, units::meter_t, Rotation3d:
          const Eigen::Matrix4d&:
            rename: fromMatrix
            keepalive: []
          '':
          const frc::Transform2d&:
            keepalive: []
      Translation:
      X:
      Y:
      Z:
      ToMatrix:
      Rotation:
      Inverse:
      operator*:
      operator/:
      operator+:
      operator==:
      Log:


inline_code: |
  cls_Transform3d
    .def_property_readonly("x", &Transform3d::X)
    .def_property_readonly("y", &Transform3d::Y)
    .def_property_readonly("z", &Transform3d::Z)
    .def_property_readonly("x_feet", [](const Transform3d * self) -> units::foot_t {
      return self->X();
    })
    .def_property_readonly("y_feet", [](const Transform3d * self) -> units::foot_t {
      return self->Y();
    })
    .def_property_readonly("z_feet", [](const Transform3d * self) -> units::foot_t {
      return self->Z();
    })
    .def("__repr__", py::overload_cast<const Transform3d&>(&rpy::toString));

  SetupWPyStruct<frc::Transform3d>(cls_Transform3d);