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42 lines
1.5 KiB
C++
42 lines
1.5 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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#include "frc/geometry/Transform3d.h"
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#include "frc/geometry/Pose3d.h"
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using namespace frc;
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Transform3d::Transform3d(Pose3d initial, Pose3d final) {
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// We are rotating the difference between the translations
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// using a clockwise rotation matrix. This transforms the global
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// delta into a local delta (relative to the initial pose).
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m_translation = (final.Translation() - initial.Translation())
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.RotateBy(-initial.Rotation());
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m_rotation = final.Rotation() - initial.Rotation();
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}
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Transform3d::Transform3d(Translation3d translation, Rotation3d rotation)
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: m_translation(std::move(translation)), m_rotation(std::move(rotation)) {}
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Transform3d Transform3d::Inverse() const {
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// We are rotating the difference between the translations
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// using a clockwise rotation matrix. This transforms the global
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// delta into a local delta (relative to the initial pose).
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return Transform3d{(-Translation()).RotateBy(-Rotation()), -Rotation()};
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}
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Transform3d Transform3d::operator+(const Transform3d& other) const {
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return Transform3d{Pose3d{}, Pose3d{}.TransformBy(*this).TransformBy(other)};
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}
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bool Transform3d::operator==(const Transform3d& other) const {
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return m_translation == other.m_translation && m_rotation == other.m_rotation;
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}
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bool Transform3d::operator!=(const Transform3d& other) const {
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return !operator==(other);
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}
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