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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.
132 lines
3.8 KiB
C++
132 lines
3.8 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 "frc/geometry/Translation3d.h"
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namespace frc {
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class WPILIB_DLLEXPORT Pose3d;
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/**
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* Represents a transformation for a Pose3d in the pose's frame.
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*/
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class WPILIB_DLLEXPORT Transform3d {
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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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Transform3d(Pose3d initial, Pose3d 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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Transform3d(Translation3d translation, Rotation3d rotation);
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/**
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* Constructs a transform with x, y, and z translations instead of a separate
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* Translation3d.
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*
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* @param x The x component of the translational component of the transform.
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* @param y The y component of the translational component of the transform.
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* @param z The z component of the translational component of the transform.
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* @param rotation The rotational component of the transform.
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*/
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Transform3d(units::meter_t x, units::meter_t y, units::meter_t z,
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Rotation3d 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 Transform3d() = 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 Translation3d& 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 Z component of the transformation's translation.
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*
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* @return The z component of the transformation's translation.
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*/
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units::meter_t Z() const { return m_translation.Z(); }
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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 Rotation3d& 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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Transform3d Inverse() const;
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/**
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* Multiplies the transform by the scalar.
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*
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* @param scalar The scalar.
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* @return The scaled Transform3d.
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*/
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Transform3d operator*(double scalar) const {
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return Transform3d(m_translation * scalar, m_rotation * scalar);
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}
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/**
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* Divides the transform by the scalar.
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*
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* @param scalar The scalar.
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* @return The scaled Transform3d.
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*/
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Transform3d operator/(double scalar) const { return *this * (1.0 / scalar); }
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/**
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* Composes two transformations. The second transform is applied relative to
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* the orientation of the first.
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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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Transform3d operator+(const Transform3d& other) const;
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/**
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* Checks equality between this Transform3d and another object.
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*/
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bool operator==(const Transform3d&) const = default;
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private:
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Translation3d m_translation;
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Rotation3d m_rotation;
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};
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} // namespace frc
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