10 #include "Transform2d.h"
11 #include "Translation2d.h"
29 constexpr
Pose2d() =
default;
175 void to_json(
wpi::json& json,
const Pose2d& pose);
177 void from_json(
const wpi::json& json, Pose2d& pose);
a class to store JSON values
Definition: json.h:2655
constexpr Pose2d()=default
Constructs a pose at the origin facing toward the positive X axis.
Pose2d operator+(const Transform2d &other) const
Transforms the pose by the given transformation and returns the new transformed pose.
A change in distance along arc since the last pose update.
Definition: Twist2d.h:19
Transform2d operator-(const Pose2d &other) const
Returns the Transform2d that maps the one pose to another.
const Translation2d & Translation() const
Returns the underlying translation.
Definition: Pose2d.h:104
Pose2d RelativeTo(const Pose2d &other) const
Returns the other pose relative to the current pose.
A rotation in a 2d coordinate frame represented a point on the unit circle (cosine and sine).
Definition: Rotation2d.h:22
Represents a translation in 2d space.
Definition: Translation2d.h:28
Pose2d Exp(const Twist2d &twist) const
Obtain a new Pose2d from a (constant curvature) velocity.
WPILib C++ utilities (wpiutil) namespace.
Definition: EventLoopRunner.h:17
Pose2d TransformBy(const Transform2d &other) const
Transforms the pose by the given transformation and returns the new pose.
Represents a 2d pose containing translational and rotational elements.
Definition: Pose2d.h:23
bool operator!=(const Pose2d &other) const
Checks inequality between this Pose2d and another object.
const Rotation2d & Rotation() const
Returns the underlying rotation.
Definition: Pose2d.h:111
Twist2d Log(const Pose2d &end) const
Returns a Twist2d that maps this pose to the end pose.
A class that enforces constraints on the differential drive kinematics.
Definition: SPIAccelerometerSim.h:16
bool operator==(const Pose2d &other) const
Checks equality between this Pose2d and another object.
Pose2d & operator+=(const Transform2d &other)
Transforms the current pose by the transformation.