Uses of Class
frc.team670.robot.utils.math.RigidTransform

Packages that use RigidTransform

Package	Description
frc.team670.robot.utils.math

Uses of RigidTransform in frc.team670.robot.utils.math

Methods in frc.team670.robot.utils.math that return RigidTransform

Modifier and Type	Method and Description
static RigidTransform	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
static RigidTransform	Kinematics.integrateForwardKinematics(RigidTransform currentPose, Twist deltaPos) Forward kinematics: Starting in the pose (x, y, theta) at time t, determine the pose at time t + delta_t (x', y', theta') given the robot's left and right wheel velocities.
RigidTransform	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 in frc.team670.robot.utils.math with parameters of type RigidTransform

Modifier and Type	Method and Description
static RigidTransform	Kinematics.integrateForwardKinematics(RigidTransform currentPose, Twist deltaPos) Forward kinematics: Starting in the pose (x, y, theta) at time t, determine the pose at time t + delta_t (x', y', theta') given the robot's left and right wheel velocities.
RigidTransform	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.