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c0b4c6cce6
Adds overloads for Transform2d() constructor to accept x, y, and heading and for Transform3d() to accept x, y, z and rotation as a shorthand for the normal constructors.
31 lines
1.1 KiB
C++
31 lines
1.1 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 <utility>
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#include "frc/geometry/Rotation2d.h"
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#include "frc/geometry/Transform2d.h"
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#include "frc/geometry/Translation2d.h"
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namespace frc {
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constexpr Transform2d::Transform2d(Translation2d translation,
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Rotation2d rotation)
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: m_translation(std::move(translation)), m_rotation(std::move(rotation)) {}
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constexpr Transform2d::Transform2d(units::meter_t x, units::meter_t y,
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Rotation2d rotation)
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: m_translation(x, y), m_rotation(std::move(rotation)) {}
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constexpr Transform2d Transform2d::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 Transform2d{(-Translation()).RotateBy(-Rotation()), -Rotation()};
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}
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} // namespace frc
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