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https://github.com/wpilibsuite/allwpilib
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65 lines
1.6 KiB
C++
65 lines
1.6 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 "units/angle.h"
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#include "units/length.h"
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#include "units/math.h"
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namespace frc {
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/**
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* A change in distance along a 2D arc since the last pose update. We can use
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* ideas from differential calculus to create new Pose2ds from a Twist2d and
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* vice versa.
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*
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* A Twist can be used to represent a difference between two poses.
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*/
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struct WPILIB_DLLEXPORT Twist2d {
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/**
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* Linear "dx" component
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*/
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units::meter_t dx = 0_m;
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/**
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* Linear "dy" component
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*/
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units::meter_t dy = 0_m;
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/**
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* Angular "dtheta" component (radians)
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*/
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units::radian_t dtheta = 0_rad;
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/**
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* Checks equality between this Twist2d 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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constexpr bool operator==(const Twist2d& other) const {
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return units::math::abs(dx - other.dx) < 1E-9_m &&
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units::math::abs(dy - other.dy) < 1E-9_m &&
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units::math::abs(dtheta - other.dtheta) < 1E-9_rad;
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}
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/**
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* Scale this by a given factor.
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*
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* @param factor The factor by which to scale.
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* @return The scaled Twist2d.
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*/
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constexpr Twist2d operator*(double factor) const {
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return Twist2d{dx * factor, dy * factor, dtheta * factor};
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}
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};
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} // namespace frc
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#include "frc/geometry/proto/Twist2dProto.h"
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#include "frc/geometry/struct/Twist2dStruct.h"
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