Translation2d Class Reference

#include <translation2d.h>

Public Member Functions
constexpr	Translation2d ()
	Translation2d (const double &x, const double &y)
	Translation2d (const Eigen::Vector2d &vector)
	Translation2d (const double &r, const Rotation2d &theta)
double	x () const
void	setX (double x)
double	y () const
void	setY (double y)
Rotation2d	theta () const
Eigen::Vector2d	as_vector () const
double	norm () const
Translation2d	normalize () const
double	distance (const Translation2d &other) const
Translation2d	rotate_by (const Rotation2d &rotation) const
Translation2d	rotate_around (const Translation2d &other, const Rotation2d &rotation) const
Translation2d	operator+ (const Translation2d &other) const
Translation2d	operator- (const Translation2d &other) const
Translation2d	operator- () const
Translation2d	operator* (const double &scalar) const
Translation2d	operator/ (const double &scalar) const
double	operator* (const Translation2d &other) const
bool	operator== (const Translation2d &other) const

Friends
std::ostream &	operator<< (std::ostream &os, const Translation2d &translation)

Detailed Description

Class representing a point in 2d space with x and y coordinates.

Assumes conventional cartesian coordinate system: Looking down at the coordinate plane, +X is right +Y is up +Theta is counterclockwise

Constructor & Destructor Documentation

Translation2d() [1/4]

Translation2d::Translation2d ( )

inlineconstexpr

Default Constructor for Translation2d

Translation2d() [2/4]

Translation2d::Translation2d	(	const double &	x,
		const double &	y )

Constructs a Translation2d with the given x and y values.

Parameters

x	The x component of the translation.
y	The y component of the translation.

Translation2d() [3/4]

Translation2d::Translation2d

(

const Eigen::Vector2d &

vector

)

Constructs a Translation2d with the values from the given vector.

Parameters

vector

The vector whose values will be used.

Translation2d() [4/4]

Translation2d::Translation2d	(	const double &	r,
		const Rotation2d &	theta )

Constructs a Translation2d given polar coordinates of the form (r, theta).

Parameters

r	The radius (magnitude) of the vector.
theta	The angle (direction) of the vector.

Member Function Documentation

as_vector()

Eigen::Vector2d Translation2d::as_vector

(

)

const

Returns the vector as an Eigen::Vector2d.

Returns

Eigen::Vector2d with the same values as the translation.

distance()

double Translation2d::distance

(

const Translation2d &

other

)

const

Returns the distance between two translations.

Returns

the distance between two translations.

norm()

double Translation2d::norm

(

)

const

Returns the norm/radius/magnitude/distance from origin.

Returns

the norm of the translation.

normalize()

Translation2d Translation2d::normalize

(

)

const

returns a translation as if it were a vector with a magnitude of 1

Returns

the norm of the translation.

Returns a translation so that it has a vector magnitude of 1

Returns

the norm of the translation.

operator*() [1/2]

Translation2d Translation2d::operator*

(

const double &

scalar

)

const

Returns this translation multiplied by a scalar.

[x] = [x] * [scalar] [y] = [y] * [scalar]

Parameters

scalar

the scalar to multiply by.

Returns

this translation multiplied by a scalar.

operator*() [2/2]

double Translation2d::operator*

(

const Translation2d &

other

)

const

Returns the dot product of two translations.

[scalar] = [x][otherx] + [y][othery]

Parameters

other

the other translation to find the dot product with.

Returns

the scalar valued dot product.

operator+()

Translation2d Translation2d::operator+

(

const Translation2d &

other

)

const

Returns the sum of two translations.

[x] = [x] + [otherx]; [y] = [y] + [othery];

Parameters

other

the other translation to add to this translation.

Returns

the sum of the two translations.

operator-() [1/2]

Translation2d Translation2d::operator-

(

)

const

Returns the inverse of this translation. Equivalent to flipping the vector across the origin.

[x] = [-x] [y] = [-y]

Returns

the inverse of this translation.

operator-() [2/2]

Translation2d Translation2d::operator-

(

const Translation2d &

other

)

const

Returns the difference of two translations.

[x] = [x] - [otherx] [y] = [y] - [othery]

Parameters

other

the translation to subtract from this translation.

Returns

the difference of the two translations.

operator/()

Translation2d Translation2d::operator/

(

const double &

scalar

)

const

Returns this translation divided by a scalar.

[x] = [x] / [scalar] [y] = [y] / [scalar]

Parameters

scalar

the scalar to divide by.

Returns

this translation divided by a scalar.

operator==()

bool Translation2d::operator==

(

const Translation2d &

other

)

const

Compares two translations. Returns true if their components are each within 1e-9, to account for floating point error.

Parameters

other

the translation to compare to.

Returns

whether the two translations are equal.

rotate_around()

Translation2d Translation2d::rotate_around	(	const Translation2d &	other,
		const Rotation2d &	rotation ) const

Applies a rotation to this translation around another given point.

[x] = [cos, -sin][x - otherx] + [otherx] [y] = [sin, cos][y - othery] + [othery]

Parameters

other	the center of rotation.
rotation	the angle amount the translation will be rotated.

Returns

the translation that has been rotated.

rotate_by()

Translation2d Translation2d::rotate_by

(

const Rotation2d &

rotation

)

const

Applies a rotation to this translation around the origin.

Equivalent to multiplying a vector by a rotation matrix: x = [cos, -sin][x] y = [sin, cos][y]

Parameters

rotation

the angle amount the translation will be rotated.

Returns

the new translation that has been rotated around the origin.

setX()

void Translation2d::setX

(

double

x

)

Sets the x value of the translation.

setY()

void Translation2d::setY

(

double

y

)

Sets the y value of the translation.

theta()

Rotation2d Translation2d::theta

(

)

const

Returns the angle of the translation.

Returns

the angle of the translation.

x()

double Translation2d::x

(

)

const

Returns the x value of the translation.

Returns

the x value of the translation.

y()

double Translation2d::y

(

)

const

Returns the y value of the translation.

Returns

the y value of the translation.

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream & os, const Translation2d & translation )

friend

Sends a translation to an output stream. Ex. std::cout << translation;

prints "Translation2d[x: (value), y: (value)]"

Sends a translation to an output stream. Ex. std::cout << translation;

prints "Translation2d[x: (value), y: (value), rad: (radians), deg: (degrees)]"

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The documentation for this class was generated from the following files:

• translation2d.h
• translation2d.cpp