Package org.photonvision.estimation
Class RotTrlTransform3d
java.lang.Object
org.photonvision.estimation.RotTrlTransform3d
Represents a transformation that first rotates a pose around the origin, and then translates it.
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Constructor Summary
ConstructorDescriptionRotTrlTransform3d
(edu.wpi.first.math.geometry.Pose3d initial, edu.wpi.first.math.geometry.Pose3d last) RotTrlTransform3d
(edu.wpi.first.math.geometry.Rotation3d rot, edu.wpi.first.math.geometry.Translation3d trl) A rotation-translation transformation.RotTrlTransform3d
(edu.wpi.first.math.geometry.Transform3d trf) Creates a rotation-translation transformation from a Transform3d. -
Method Summary
Modifier and TypeMethodDescriptionedu.wpi.first.math.geometry.Pose3d
apply
(edu.wpi.first.math.geometry.Pose3d pose) edu.wpi.first.math.geometry.Rotation3d
apply
(edu.wpi.first.math.geometry.Rotation3d rot) edu.wpi.first.math.geometry.Translation3d
apply
(edu.wpi.first.math.geometry.Translation3d trl) List<edu.wpi.first.math.geometry.Pose3d>
applyPoses
(List<edu.wpi.first.math.geometry.Pose3d> poses) List<edu.wpi.first.math.geometry.Rotation3d>
List<edu.wpi.first.math.geometry.Translation3d>
edu.wpi.first.math.geometry.Rotation3d
The rotation component of this transformationedu.wpi.first.math.geometry.Transform3d
This transformation as a Transform3d (as if of the origin)edu.wpi.first.math.geometry.Translation3d
The translation component of this transformationinverse()
The inverse of this transformation.static RotTrlTransform3d
makeRelativeTo
(edu.wpi.first.math.geometry.Pose3d pose) The rotation-translation transformation that makes poses in the world consider this pose as the new origin, or change the basis to this pose.
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Constructor Details
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RotTrlTransform3d
public RotTrlTransform3d(edu.wpi.first.math.geometry.Rotation3d rot, edu.wpi.first.math.geometry.Translation3d trl) A rotation-translation transformation.Applying this RotTrlTransform3d to poses will preserve their current origin-to-pose transform as if the origin was transformed by these components instead.
- Parameters:
rot
- The rotation componenttrl
- The translation component
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RotTrlTransform3d
public RotTrlTransform3d(edu.wpi.first.math.geometry.Pose3d initial, edu.wpi.first.math.geometry.Pose3d last) -
RotTrlTransform3d
public RotTrlTransform3d(edu.wpi.first.math.geometry.Transform3d trf) Creates a rotation-translation transformation from a Transform3d.Applying this RotTrlTransform3d to poses will preserve their current origin-to-pose transform as if the origin was transformed by trf instead.
- Parameters:
trf
- The origin transformation
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RotTrlTransform3d
public RotTrlTransform3d()
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Method Details
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makeRelativeTo
The rotation-translation transformation that makes poses in the world consider this pose as the new origin, or change the basis to this pose.- Parameters:
pose
- The new origin
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inverse
The inverse of this transformation. Applying the inverse will "undo" this transformation. -
getTransform
public edu.wpi.first.math.geometry.Transform3d getTransform()This transformation as a Transform3d (as if of the origin) -
getTranslation
public edu.wpi.first.math.geometry.Translation3d getTranslation()The translation component of this transformation -
getRotation
public edu.wpi.first.math.geometry.Rotation3d getRotation()The rotation component of this transformation -
apply
public edu.wpi.first.math.geometry.Translation3d apply(edu.wpi.first.math.geometry.Translation3d trl) -
applyTrls
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apply
public edu.wpi.first.math.geometry.Rotation3d apply(edu.wpi.first.math.geometry.Rotation3d rot) -
applyRots
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apply
public edu.wpi.first.math.geometry.Pose3d apply(edu.wpi.first.math.geometry.Pose3d pose) -
applyPoses
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