Pose2d

@Serializable

data class Pose2d @JvmOverloads constructor(val x: Double = 0.0, val y: Double = 0.0, val heading: Angle = 0.rad)

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

Constructors

constructor(pos: Vector2d, heading: Angle = 0.rad)

constructor(x: Double = 0.0, y: Double = 0.0, heading: Angle = 0.rad)

val x: Double = 0.0

val y: Double = 0.0

operator fun div(scalar: Double): Pose2d

Divides this pose by a scalar.

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

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

Returns the vector representation of this pose's heading.

operator fun minus(other: Pose2d): Pose2d

Subtracts two poses.

operator fun plus(other: Pose2d): Pose2d

Adds two poses.

operator fun times(scalar: Double): Pose2d

Multiplies this pose by a scalar.

open override fun toString(): String

operator fun unaryMinus(): Pose2d

Returns the negative of this pose.

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