Rotation2d

java.lang.Object
- frc.team670.robot.utils.math.Rotation2d

All Implemented Interfaces:

Interpolable<Rotation2d>
```
public class Rotation2d
extends java.lang.Object
implements Interpolable<Rotation2d>
```
Taken from Team 254 2017 Code. A rotation in a 2d coordinate frame represented a point on the unit circle (cosine and sine). Inspired by Sophus (https://github.com/strasdat/Sophus/tree/master/sophus)

Constructor Summary

Constructors
Constructor and Description
`Rotation2d()`
`Rotation2d(double x, double y, boolean normalize)`
`Rotation2d(Rotation2d other)`
`Rotation2d(Translation2d direction, boolean normalize)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`cos()`
`static Rotation2d`	`fromDegrees(double angle_degrees)`
`static Rotation2d`	`fromRadians(double angle_radians)`
`double`	`getDegrees()`
`double`	`getRadians()`
`static Rotation2d`	`identity()`
`Rotation2d`	`interpolate(Rotation2d other, double x)` Interpolates between this value and an other value according to a given parameter.
`Rotation2d`	`inverse()` The inverse of a Rotation2d "undoes" the effect of this rotation.
`boolean`	`isParallel(Rotation2d other)`
`Rotation2d`	`normal()`
`void`	`normalize()` From trig, we know that sin^2 + cos^2 == 1, but as we do math on this object we might accumulate rounding errors.
`Rotation2d`	`rotateBy(Rotation2d other)` We can rotate this Rotation2d by adding together the effects of it and another rotation.
`double`	`sin()`
`double`	`tan()`
`java.lang.String`	`toString()`
`Translation2d`	`toTranslation()`

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Constructor Detail
  - Rotation2d
```
public Rotation2d()
```
  - Rotation2d
```
public Rotation2d(double x,
                  double y,
                  boolean normalize)
```
  - Rotation2d
```
public Rotation2d(Rotation2d other)
```
  - Rotation2d
```
public Rotation2d(Translation2d direction,
                  boolean normalize)
```
- Method Detail
  - identity
```
public static final Rotation2d identity()
```
  - fromRadians
```
public static Rotation2d fromRadians(double angle_radians)
```
  - fromDegrees
```
public static Rotation2d fromDegrees(double angle_degrees)
```
  - normalize
```
public void normalize()
```
    From trig, we know that sin^2 + cos^2 == 1, but as we do math on this object we might accumulate rounding errors. Normalizing forces us to re-scale the sin and cos to reset rounding errors.
  - cos
```
public double cos()
```
  - sin
```
public double sin()
```
  - tan
```
public double tan()
```
  - getRadians
```
public double getRadians()
```
  - getDegrees
```
public double getDegrees()
```
  - rotateBy
```
public Rotation2d rotateBy(Rotation2d other)
```
    We can rotate this Rotation2d by adding together the effects of it and another rotation.
    
    Parameters:
    
    other - The other rotation. See: https://en.wikipedia.org/wiki/Rotation_matrix
    
    Returns:
    
    This rotation rotated by other.
  - normal
```
public Rotation2d normal()
```
  - inverse
```
public Rotation2d inverse()
```
    The inverse of a Rotation2d "undoes" the effect of this rotation.
    
    Returns:
    
    The opposite of this rotation.
  - isParallel
```
public boolean isParallel(Rotation2d other)
```
  - toTranslation
```
public Translation2d toTranslation()
```
  - interpolate
```
public Rotation2d interpolate(Rotation2d other,
                              double x)
```
    Description copied from interface: Interpolable
    
    Interpolates between this value and an other value according to a given parameter. If x is 0, the method should return this value. If x is 1, the method should return the other value. If 0 < x < 1, the return value should be interpolated proportionally between the two.
    
    Specified by:
    
    interpolate in interface Interpolable<Rotation2d>
    
    Parameters:
    
    other - The value of the upper bound
    
    x - The requested value. Should be between 0 and 1.
    
    Returns:
    
    Interpolable The estimated average between the surrounding data
  - toString
```
public java.lang.String toString()
```
    Overrides:
    
    toString in class java.lang.Object

Class Rotation2d

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

Rotation2d

Rotation2d

Rotation2d

Rotation2d

Method Detail

identity

fromRadians

fromDegrees

normalize

cos

sin

tan

getRadians

getDegrees

rotateBy

normal

inverse

isParallel

toTranslation

interpolate

toString