valor::geometry::Translation3d Class Reference

Represents a 3D translation vector (x, y, z). More...

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

Inheritance diagram for valor::geometry::Translation3d:

Public Member Functions
	Translation3d (const EigenUnit::UnitVector< units::meter, units::meter, units::meter > &b)
	Translation3d (const Translation2d &t)
	Construct a 3D translation from a 2D translation (z = 0).
	Translation3d (units::meter_t distance, const Rotation3d &direction)
	Construct a 3D translation from a distance and direction. Converts from spherical coordinates: distance along the given rotation's direction.
	Translation3d (frc::Translation3d frcTrans)
	Construct a 3D translation from an frc::Translation3d.
	Translation3d (frc::Translation2d frcTrans)
	Construct a 3D translation from an frc::Translation2d, setting Z to zero.
Translation2d	ToTranslation2d () const
	Project this translation onto the X-Y plane.
Translation3d	RotateBy (const Rotation3d &rot) const
	Rotate this translation by a Rotation3d.
units::meter_t	Distance (const Translation3d &other) const
	Distance from this translation to another.
Translation3d	operator* (double scalar) const
	Scalar multiplication.
Translation3d	operator/ (double scalar) const
	Scalar division.
Public Member Functions inherited from valor::EigenUnit::NamedPhysicalVector< Translation3d, EigenUnit::UnitVector< units::meter, units::meter, units::meter > >
	NamedPhysicalVector (const EigenUnit::UnitVector< units::meter, units::meter, units::meter > &b)
Public Member Functions inherited from valor::EigenUnit::UnitVector< units::meter, units::meter, units::meter >
constexpr	UnitVector ()
	Default constructor. Initializes all elements to zero.
constexpr UnitVector &	operator= (const UnitVector &)=default
	Copy assignment.
constexpr const StorageType &	Raw () const
	Get a constant reference to the underlying raw Eigen data.
constexpr auto	Get () const
	Get the value of the N-th element with its unit.
void	Set (units::unit_t< std::tuple_element_t< N, UnitTuple > > val)
	Set the value of the N-th element.
auto	Norm () const
	Computes the L2 norm (magnitude). Requires all elements to have the same unit tag.
auto	Normalized () const
	Returns a normalized (unit-length) vector. Result is dimensionless. Only valid if all elements have the same unit.
auto	Dot (const UnitVector< OtherTags... > &other) const
	Dot product with another UnitVector. Resulting unit is the product of the first tags of both vectors.
constexpr auto	Head () const
	Extract the first N elements as a new UnitVector.
constexpr auto	Tail () const
	Extract the last N elements as a new UnitVector.
constexpr auto	Slice () const
	Extract N elements after the Start as a new UnitVector.
constexpr UnitVector	operator+ (const UnitVector< OtherTags... > &other) const
	Vector addition.
constexpr UnitVector	operator- (const UnitVector< OtherTags... > &other) const
	Vector subtraction.
constexpr UnitVector &	operator+= (const UnitVector< OtherTags... > &other)
	In-place vector addition.
constexpr UnitVector &	operator-= (const UnitVector< OtherTags... > &other)
	In-place vector subtraction.
constexpr auto	operator* (const units::unit_t< ScalarTag > &scalar) const
	Multiplication by a scalar unit.
constexpr auto	operator/ (const units::unit_t< ScalarTag > &scalar) const
	Division by a scalar unit.
bool	operator== (const UnitVector< OtherTags... > &other) const
	Equality operator.
constexpr auto	CWiseProduct (const UnitVector< OtherTags... > &other) const
	Component-wise product with another UnitVector.
constexpr auto	CWiseQuotient (const UnitVector< OtherTags... > &other) const
	Component-wise quotient with another UnitVector.
constexpr UnitVector	CWiseAbs () const
	Component-wise absolute value.
constexpr UnitVector	CWiseMin (const UnitVector &other) const
	Component-wise minimum.
constexpr UnitVector	CWiseMax (const UnitVector &other) const
	Component-wise maximum.
constexpr UnitVector	Clamp (const UnitVector &lo, const UnitVector &hi) const
	Clamp each element between lo and hi vectors.
bool	IsApprox (const UnitVector &other, units::unit_t< std::tuple_element_t< 0, UnitTuple > > tol=units::unit_t< std::tuple_element_t< 0, UnitTuple > >{1e-9}) const
	Check if two vectors are approximately equal.
auto	Sum () const
	Computes the sum of all elements. Only valid if all units are the same.
auto	Mean () const
	Computes the mean of all elements. Only valid if all units are the same.
constexpr auto	X () const
	Access the first element (x).
constexpr auto	Y () const
	Access the second element (y).
constexpr auto	Z () const
	Access the third element (z).
constexpr auto	W () const
	Access the fourth element (w).
auto	AsDiagonal () const
	Converts the vector to a diagonal matrix.
auto	LPNorm () const
	Computes the Lp norm.
auto	StableNorm () const
	Computes the stable norm.
constexpr auto	Begin ()
constexpr auto	End ()

Additional Inherited Members
Public Types inherited from valor::EigenUnit::UnitVector< units::meter, units::meter, units::meter >
using	StorageType
	The underlying Eigen storage type.
using	UnitTuple
	A tuple of the unit tags.
Static Public Member Functions inherited from valor::EigenUnit::UnitVector< units::meter, units::meter, units::meter >
static constexpr UnitVector	Zero ()
	Create a zero-initialized vector.
static UnitVector	FromArray (const std::array< double, Size > &arr)
	Construct a UnitVector from a std::array of doubles. Values are assumed to be in the target units.
static UnitVector	FromSpan (const std::span< double, Size > &s)
	Construct a UnitVector from a std::span of doubles. Values are assumed to be in the target units.
static UnitVector	Constant (units::unit_t< typename std::tuple_element_t< 0, UnitTuple > > val)
	Create a vector where all elements are set to a constant value. Only valid if all units are the same.
static auto	Skew (const UnitVector< UnitTags... > &vec)
	Converts a 3D vector to a skew-symmetric matrix.
Static Public Attributes inherited from valor::EigenUnit::UnitVector< units::meter, units::meter, units::meter >
static constexpr std::size_t	Size
	The number of elements in the vector.

Detailed Description

Represents a 3D translation vector (x, y, z).

Constructor & Destructor Documentation

Translation3d() [1/4]

valor::geometry::Translation3d::Translation3d ( const Translation2d & t )

inlineexplicit

Construct a 3D translation from a 2D translation (z = 0).

Parameters

t	The 2D translation.

Translation3d() [2/4]

valor::geometry::Translation3d::Translation3d ( units::meter_t distance, const Rotation3d & direction )

inline

Construct a 3D translation from a distance and direction. Converts from spherical coordinates: distance along the given rotation's direction.

Parameters

distance	The distance from the origin.
direction	The direction as a Rotation3d.

Translation3d() [3/4]

valor::geometry::Translation3d::Translation3d ( frc::Translation3d frcTrans )

inlineexplicit

Construct a 3D translation from an frc::Translation3d.

Parameters

frcTrans

The frc translation to convert.

Translation3d() [4/4]

valor::geometry::Translation3d::Translation3d ( frc::Translation2d frcTrans )

inlineexplicit

Construct a 3D translation from an frc::Translation2d, setting Z to zero.

Parameters

frcTrans

The frc 2D translation to lift into 3D.

Member Function Documentation

Distance()

units::meter_t valor::geometry::Translation3d::Distance ( const Translation3d & other ) const

inline

Distance from this translation to another.

Parameters

other

The other translation.

Returns

The distance in meters.

RotateBy()

Translation3d valor::geometry::Translation3d::RotateBy ( const Rotation3d & rot ) const

inline

Rotate this translation by a Rotation3d.

Parameters

rot	The rotation to apply.

Returns

The rotated translation.

ToTranslation2d()

Translation2d valor::geometry::Translation3d::ToTranslation2d ( ) const

inline

Project this translation onto the X-Y plane.

Returns

The 2D translation.

---

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

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