JTwoDTransform Struct Reference

struct for storing a 2 dimensional transformation. Used for telling a drivetrain how to move. More...

#include <JTwoDTransform.h>

Public Member Functions
JTwoDTransform	operator& (const JTwoDTransform &t)
	adds the second transform after the first, assuming movement, then rotation
JTwoDTransform	operator+ (const JTwoDTransform &t)
JTwoDTransform	operator- (const JTwoDTransform &t)
JTwoDTransform	operator* (const JTwoDTransform &t)
JTwoDTransform	operator/ (const JTwoDTransform &t)
JTwoDTransform	operator* (const float v)
JTwoDTransform	operator/ (const float v)
JTwoDTransform	operator- ()
JTwoDTransform	operator+= (const JTwoDTransform &t)
JTwoDTransform	operator-= (const JTwoDTransform &t)
JTwoDTransform	operator*= (const JTwoDTransform &t)
JTwoDTransform	operator/= (const JTwoDTransform &t)
JTwoDTransform	operator*= (const float v)
JTwoDTransform	operator/= (const float v)
float	getByNumber (int8_t index)
	access the three values based on a numerical index
void	setByNumber (int8_t index, float value)
	sets one of the three values based on a numerical index
float	sumAbs ()
	sum of absolute value of the three values
void	print (bool labels=true, bool newline=false, Stream *serial=&Serial)
	use to print values of transform to serial port

Static Public Member Functions
static JTwoDTransform	rotate (JTwoDTransform tIn, float theta)
static JTwoDTransform	fromNice (float fb, float sideways, float turn)
	converts from a coordinate system that might be more intuitive for some people
static float	getForwards (JTwoDTransform t)
static float	getRight (JTwoDTransform t)
static float	getTurnDegreesCW (JTwoDTransform t)

Public Attributes
float	x
	backwards- | forward+
float	y
	right- | left+
float	theta
	clockwise- | counterclockwise+

Detailed Description

struct for storing a 2 dimensional transformation. Used for telling a drivetrain how to move.

Note

{forwards,left,CCW} Follows ROS conventions for coordinate system: forward is positive, rotation CCW is positive, left is positive

Member Function Documentation

fromNice()

static JTwoDTransform JTwoDTransform::fromNice ( float  fb, float  sideways, float  turn  )

inlinestatic

converts from a coordinate system that might be more intuitive for some people

Parameters

fb	backwards- | forward+
sideways	left- | right+
turn	CCW- | CW+ in DEGREES

Return values

converted

JTwoDTransform

getByNumber()

float JTwoDTransform::getByNumber ( int8_t  index )

inline

access the three values based on a numerical index

Parameters

index

0 returns x, 1 returns y, 2 returns z, other numbers returns NAN

Return values

(float)

getForwards()

static float JTwoDTransform::getForwards ( JTwoDTransform  t )

inlinestatic

getRight()

static float JTwoDTransform::getRight ( JTwoDTransform  t )

inlinestatic

getTurnDegreesCW()

static float JTwoDTransform::getTurnDegreesCW ( JTwoDTransform  t )

inlinestatic

operator&()

JTwoDTransform JTwoDTransform::operator& ( const JTwoDTransform &  t )

inline

adds the second transform after the first, assuming movement, then rotation

Note

assumes radians

Return values

combined

transform

operator*() [1/2]

JTwoDTransform JTwoDTransform::operator* ( const float  v )

inline

operator*() [2/2]

JTwoDTransform JTwoDTransform::operator* ( const JTwoDTransform &  t )

inline

operator*=() [1/2]

JTwoDTransform JTwoDTransform::operator*= ( const float  v )

inline

operator*=() [2/2]

JTwoDTransform JTwoDTransform::operator*= ( const JTwoDTransform &  t )

inline

operator+()

JTwoDTransform JTwoDTransform::operator+ ( const JTwoDTransform &  t )

inline

operator+=()

JTwoDTransform JTwoDTransform::operator+= ( const JTwoDTransform &  t )

inline

operator-() [1/2]

JTwoDTransform JTwoDTransform::operator- ( )

inline

operator-() [2/2]

JTwoDTransform JTwoDTransform::operator- ( const JTwoDTransform &  t )

inline

operator-=()

JTwoDTransform JTwoDTransform::operator-= ( const JTwoDTransform &  t )

inline

operator/() [1/2]

JTwoDTransform JTwoDTransform::operator/ ( const float  v )

inline

operator/() [2/2]

JTwoDTransform JTwoDTransform::operator/ ( const JTwoDTransform &  t )

inline

operator/=() [1/2]

JTwoDTransform JTwoDTransform::operator/= ( const float  v )

inline

operator/=() [2/2]

JTwoDTransform JTwoDTransform::operator/= ( const JTwoDTransform &  t )

inline

print()

void JTwoDTransform::print ( bool  labels = true, bool  newline = false, Stream *  serial = &Serial  )

inline

use to print values of transform to serial port

Parameters

labels	(bool, default=true) label what axis each value corresponds to
newline	(bool, default=false) send a newline character at the end
serial	(Stream*, default=Serial) what serial port to print to

rotate()

static JTwoDTransform JTwoDTransform::rotate ( JTwoDTransform  tIn, float  theta  )

inlinestatic

setByNumber()

void JTwoDTransform::setByNumber ( int8_t  index, float  value  )

inline

sets one of the three values based on a numerical index

Parameters

index

0 sets x, 1 sets y, 2 sets z, other numbers have no effect

sumAbs()

float JTwoDTransform::sumAbs ( )

inline

sum of absolute value of the three values

Member Data Documentation

theta

float JTwoDTransform::theta

clockwise- | counterclockwise+

x

float JTwoDTransform::x

backwards- | forward+

y

float JTwoDTransform::y

right- | left+

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The documentation for this struct was generated from the following file:

• src/JTwoDTransform.h