valor::geometry::Transform2d Class Reference

Represents a relative 2D transformation (translation + rotation). More...

#include <valkyrie/util/geometry/Pose.h>

Inheritance diagram for valor::geometry::Transform2d:

Public Member Functions
	Transform2d (const BaseMatrix &b)
	Transform2d (Translation2d trans, Rotation2d rot)
	Construct a Transform2d from a translation and rotation.
	Transform2d (frc::Translation2d frcTrans, frc::Rotation2d frcRot)
	Construct a Transform2d from an frc::Translation2d and frc::Rotation2d.
	Transform2d (frc::Transform2d frcTransform)
	Construct a Transform2d from an frc::Transform2d.
Translation2d	Translation () const
Rotation2d	Rotation () const
Transform2d	Inverse () const
	Invert the transform.
Transform2d	operator* (double scalar) const
	Scalar multiplication of the translation and rotation angle.
Public Member Functions inherited from valor::EigenUnit::NamedPhysicalMatrix< Transform2d, EigenUnit::PhysicalMatrix< HomogeneousVector2d, HomogeneousVector2d > >
	NamedPhysicalMatrix (const EigenUnit::PhysicalMatrix< HomogeneousVector2d, HomogeneousVector2d > &base)
Transform2d	Inverse () const
auto	Block () const

Static Public Member Functions
static Transform2d	Identity ()
	The identity transform.

Detailed Description

Represents a relative 2D transformation (translation + rotation).

Unlike Pose2d, a Transform2d is a delta — it is applied in the pose's own coordinate frame. Internally stored as a 3x3 homogeneous matrix.

Constructor & Destructor Documentation

Transform2d() [1/3]

valor::geometry::Transform2d::Transform2d ( Translation2d trans, Rotation2d rot )

inline

Construct a Transform2d from a translation and rotation.

Parameters

trans	The translation component.
rot	The rotation component.

Transform2d() [2/3]

valor::geometry::Transform2d::Transform2d ( frc::Translation2d frcTrans, frc::Rotation2d frcRot )

inlineexplicit

Construct a Transform2d from an frc::Translation2d and frc::Rotation2d.

Parameters

frcTrans	The frc translation component.
frcRot	The frc rotation component.

Transform2d() [3/3]

valor::geometry::Transform2d::Transform2d ( frc::Transform2d frcTransform )

inlineexplicit

Construct a Transform2d from an frc::Transform2d.

Parameters

frcTransform

The frc transform to convert.

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The documentation for this class was generated from the following file:

• src/main/include/valkyrie/util/geometry/Pose.h