frc.team670.robot.utils.math

Class RigidTransform

java.lang.Object

frc.team670.robot.utils.math.RigidTransform

public class RigidTransform
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
RigidTransform()
RigidTransform(Translation translation, Rotation rotation)

Method Summary

Modifier and Type	Method and Description
static RigidTransform	exp(Twist twist) ethaneade.com/lie_groups.pdf Exponential map for 2D rigid transformation Basically this converts a Twist ---(exponential map)---> transformation Kind of like an differential position ---(integral)---> position
Rotation	getRotation()
Translation	getTranslation()
java.lang.String	toString()
RigidTransform	transform(RigidTransform other) Transforms (rotates + translates) this transformation matrix by another transformation matrix Basically multiplies two transformation matrices (see above the class declaration) together.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

RigidTransform

public RigidTransform(Translation translation,
                      Rotation rotation)

RigidTransform

public RigidTransform()

Method Detail

exp

public static RigidTransform exp(Twist twist)

ethaneade.com/lie_groups.pdf Exponential map for 2D rigid transformation Basically this converts a Twist ---(exponential map)---> transformation Kind of like an differential position ---(integral)---> position

Twist: [[dx] [dy] [dtheta]]

Rotation: [[cos(dtheta), -sin(dtheta)] [sin(dtheta), cos(dtheta)]]

Translation: [[sin(dtheta)/dtheta, -(1-cos(dtheta)/detheta)] * [[dx] [(1-cos(dtheta)/dtheta), sin(dtheta)/dtheta) ]] [dy]]

Parameters:

twist - Input twist

Returns:

Transformation based on the twist

getTranslation

public Translation getTranslation()

getRotation

public Rotation getRotation()

transform

public RigidTransform transform(RigidTransform other)

Transforms (rotates + translates) this transformation matrix by another transformation matrix Basically multiplies two transformation matrices (see above the class declaration) together.

In other words, we first rotation this translation vector by the other rotation vector (taking into account this rotation vector), then we translate this translation vector by the other translation vector

Parameters:

other - Transformation matrix to transform this matrix by

Returns:

The transformed matrix

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object