Package org.photonvision.estimation

Class RotTrlTransform3d

java.lang.Object

org.photonvision.estimation.RotTrlTransform3d

public class RotTrlTransform3d
extends Object

Represents a transformation that first rotates a pose around the origin, and then translates it.

Constructor Summary

Constructors

Constructor	Description
RotTrlTransform3d()
RotTrlTransform3d(Pose3d initial, Pose3d last)
RotTrlTransform3d(Rotation3d rot, Translation3d trl)	A rotation-translation transformation.
RotTrlTransform3d(Transform3d trf)	Creates a rotation-translation transformation from a Transform3d.

Method Summary

Modifier and Type	Method	Description
Pose3d	apply(Pose3d pose)
Rotation3d	apply(Rotation3d rot)
Translation3d	apply(Translation3d trl)
List<Pose3d>	applyPoses(List<Pose3d> poses)
List<Rotation3d>	applyRots(List<Rotation3d> rots)
List<Translation3d>	applyTrls(List<Translation3d> trls)
Rotation3d	getRotation()	The rotation component of this transformation
Transform3d	getTransform()	This transformation as a Transform3d (as if of the origin)
Translation3d	getTranslation()	The translation component of this transformation
RotTrlTransform3d	inverse()	The inverse of this transformation.
static RotTrlTransform3d	makeRelativeTo(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.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

RotTrlTransform3d

public RotTrlTransform3d(Rotation3d rot,
 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 component

trl - The translation component

RotTrlTransform3d

public RotTrlTransform3d(Pose3d initial,
 Pose3d last)

RotTrlTransform3d

public RotTrlTransform3d(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

RotTrlTransform3d

public RotTrlTransform3d()

Method Details

makeRelativeTo

public static RotTrlTransform3d makeRelativeTo(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.

Parameters:

pose - The new origin

inverse

public RotTrlTransform3d inverse()

The inverse of this transformation. Applying the inverse will "undo" this transformation.

getTransform

public Transform3d getTransform()

This transformation as a Transform3d (as if of the origin)

getTranslation

public Translation3d getTranslation()

The translation component of this transformation

getRotation

public Rotation3d getRotation()

The rotation component of this transformation

apply

public Translation3d apply(Translation3d trl)

applyTrls

public List<Translation3d> applyTrls(List<Translation3d> trls)

apply

public Rotation3d apply(Rotation3d rot)

applyRots

public List<Rotation3d> applyRots(List<Rotation3d> rots)

apply

public Pose3d apply(Pose3d pose)

applyPoses

public List<Pose3d> applyPoses(List<Pose3d> poses)