Package xbot.common.math

Class WrappedRotation2d

java.lang.Object

edu.wpi.first.math.geometry.Rotation2d

xbot.common.math.WrappedRotation2d

All Implemented Interfaces:

Interpolatable<Rotation2d>, ProtobufSerializable, StructSerializable, WPISerializable

public class WrappedRotation2d
extends Rotation2d

A rotation in a 2d coordinate frame, with its rotation wrapped from -pi to pi radians (-180 to 180 degrees). Prefer this class over Rotation2d when representing robot pose.

Field Summary

Fields inherited from class edu.wpi.first.math.geometry.Rotation2d

k180deg, kCCW_90deg, kCCW_Pi_2, kCW_90deg, kCW_Pi_2, kPi, kZero, proto, struct

Constructor Summary

Constructors

Constructor	Description
WrappedRotation2d(double value)	Constructs a WrappedRotation2d with the given radian value.
WrappedRotation2d(double x, double y)	Constructs a WrappedRotation2d with the given x and y (cosine and sine) components.

Method Summary

Modifier and Type	Method	Description
static WrappedRotation2d	fromDegrees(double degrees)	Constructs and returns a Rotation2d with the given degree value.
static WrappedRotation2d	fromRotation2d(Rotation2d rotation)	Converts a Rotation2d to the wrapped equivalent.

Methods inherited from class edu.wpi.first.math.geometry.Rotation2d

div, equals, fromRadians, fromRotations, getCos, getDegrees, getMeasure, getRadians, getRotations, getSin, getTan, hashCode, interpolate, minus, plus, rotateBy, times, toMatrix, toString, unaryMinus

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Details

WrappedRotation2d

public WrappedRotation2d(double value)

Constructs a WrappedRotation2d with the given radian value.

Parameters:

value - The value of the angle in radians.

WrappedRotation2d

public WrappedRotation2d(double x,
 double y)

Constructs a WrappedRotation2d with the given x and y (cosine and sine) components. The x and y don't have to be normalized.

Parameters:

x - The x component or cosine of the rotation.

y - The y component or sine of the rotation.

Method Details

fromRotation2d

public static WrappedRotation2d fromRotation2d(Rotation2d rotation)

Converts a Rotation2d to the wrapped equivalent.

Parameters:

rotation - The rotation.

Returns:

The rotation with its angle wrapped from -pi to pi radians.

fromDegrees

public static WrappedRotation2d fromDegrees(double degrees)

Constructs and returns a Rotation2d with the given degree value.

Parameters:

degrees - The value of the angle in degrees.

Returns:

The rotation object with the desired angle value.