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https://github.com/wpilibsuite/allwpilib
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115 lines
3.0 KiB
C++
115 lines
3.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <wpi/SymbolExports.h>
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#include "Translation2d.h"
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namespace frc {
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class WPILIB_DLLEXPORT Pose2d;
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/**
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* Represents a transformation for a Pose2d.
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*/
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class WPILIB_DLLEXPORT Transform2d {
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public:
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/**
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* Constructs the transform that maps the initial pose to the final pose.
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*
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* @param initial The initial pose for the transformation.
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* @param final The final pose for the transformation.
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*/
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Transform2d(Pose2d initial, Pose2d final);
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/**
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* Constructs a transform with the given translation and rotation components.
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*
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* @param translation Translational component of the transform.
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* @param rotation Rotational component of the transform.
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*/
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Transform2d(Translation2d translation, Rotation2d rotation);
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/**
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* Constructs the identity transform -- maps an initial pose to itself.
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*/
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constexpr Transform2d() = default;
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/**
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* Returns the translation component of the transformation.
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*
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* @return Reference to the translational component of the transform.
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*/
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const Translation2d& Translation() const { return m_translation; }
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/**
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* Returns the X component of the transformation's translation.
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*
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* @return The x component of the transformation's translation.
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*/
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units::meter_t X() const { return m_translation.X(); }
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/**
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* Returns the Y component of the transformation's translation.
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*
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* @return The y component of the transformation's translation.
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*/
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units::meter_t Y() const { return m_translation.Y(); }
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/**
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* Returns the rotational component of the transformation.
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*
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* @return Reference to the rotational component of the transform.
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*/
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const Rotation2d& Rotation() const { return m_rotation; }
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/**
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* Invert the transformation. This is useful for undoing a transformation.
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*
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* @return The inverted transformation.
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*/
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Transform2d Inverse() const;
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/**
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* Scales the transform by the scalar.
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*
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* @param scalar The scalar.
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* @return The scaled Transform2d.
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*/
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Transform2d operator*(double scalar) const {
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return Transform2d(m_translation * scalar, m_rotation * scalar);
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}
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/**
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* Composes two transformations.
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*
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* @param other The transform to compose with this one.
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* @return The composition of the two transformations.
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*/
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Transform2d operator+(const Transform2d& other) const;
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/**
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* Checks equality between this Transform2d and another object.
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*
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* @param other The other object.
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* @return Whether the two objects are equal.
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*/
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bool operator==(const Transform2d& other) const;
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/**
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* Checks inequality between this Transform2d and another object.
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*
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* @param other The other object.
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* @return Whether the two objects are not equal.
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*/
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bool operator!=(const Transform2d& other) const;
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private:
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Translation2d m_translation;
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Rotation2d m_rotation;
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};
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} // namespace frc
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