Navigation/com.amarcolini.joos.geometry/Pose2d

Pose2d

@Serializable()

public final class Pose2d

Class for representing 2D robot poses (x, y, and heading) and their derivatives.

Constructors

Pose2d

@JvmOverloads()

public Pose2d Pose2d(Vector2d pos, Angle heading)

@JvmOverloads()

public Pose2d Pose2d(Vector2d pos)

@JvmOverloads()

public Pose2d Pose2d(Double x, Double y, Angle heading)

@JvmOverloads()

public Pose2d Pose2d(Double x, Double y)

@JvmOverloads()

public Pose2d Pose2d(Double x)

@JvmOverloads()

public Pose2d Pose2d()

Properties

heading

@JvmField()

public final Angle heading

@JvmField()

public final Double x

@JvmField()

public final Double y

Functions

div

public final Pose2d div(Double scalar)

Divides this pose by a scalar.

epsilonEquals

public final Boolean epsilonEquals(Pose2d other)

Returns whether two poses are approximately equal (within EPSILON).

epsilonEqualsHeading

public final Boolean epsilonEqualsHeading(Pose2d other)

Returns whether two poses are approximately equal (within EPSILON).

headingVec

public final Vector2d headingVec()

Returns the vector representation of this pose's heading.

minus

public final Pose2d minus(Pose2d other)

Subtracts two poses.

plus

public final Pose2d plus(Pose2d other)

Adds two poses.

times

public final Pose2d times(Double scalar)

Multiplies this pose by a scalar.

toString

public String toString()

unaryMinus

public final Pose2d unaryMinus()

Returns the negative of this pose.

vec

public final Vector2d vec()

Returns this pose as a vector (i.e., without heading).