Translation3d

class wpimath.geometry.Translation3d(*args, **kwargs)

Bases: pybind11_object

Represents a translation in 3D space. This object can be used to represent a point or a vector.

This assumes that you are using conventional mathematical axes. When the robot is at the origin facing in the positive X direction, forward is positive X, left is positive Y, and up is positive Z.

Overloaded function.

  1. __init__(self: wpimath.geometry._geometry.Translation3d) -> None

Constructs a Translation3d with X, Y, and Z components equal to zero.

  1. __init__(self: wpimath.geometry._geometry.Translation3d, x: wpimath.units.meters, y: wpimath.units.meters, z: wpimath.units.meters) -> None

Constructs a Translation3d with the X, Y, and Z components equal to the provided values.

Parameters:

  • x – The x component of the translation.

  • y – The y component of the translation.

  • z – The z component of the translation.

  1. __init__(self: wpimath.geometry._geometry.Translation3d, distance: wpimath.units.meters, angle: wpimath.geometry._geometry.Rotation3d) -> None

Constructs a Translation3d with the provided distance and angle. This is essentially converting from polar coordinates to Cartesian coordinates.

Parameters:

  • distance – The distance from the origin to the end of the translation.

  • angle – The angle between the x-axis and the translation vector.

  1. __init__(self: wpimath.geometry._geometry.Translation3d, vector: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”]) -> None

Constructs a Translation3d from a 3D translation vector. The values are assumed to be in meters.

Parameters:

vector – The translation vector.

  1. __init__(self: wpimath.geometry._geometry.Translation3d, translation: wpimath.geometry._geometry.Translation2d) -> None

Constructs a 3D translation from a 2D translation in the X-Y plane.

Parameters:

translation – The 2D translation. @see Pose3d(Pose2d) @see Transform3d(Transform2d)

WPIStruct = <capsule object "WPyStruct">
X() → wpimath.units.meters

Returns the X component of the translation.

Returns:

The Z component of the translation.

Y() → wpimath.units.meters

Returns the Y component of the translation.

Returns:

The Y component of the translation.

Z() → wpimath.units.meters

Returns the Z component of the translation.

Returns:

The Z component of the translation.

distance(other: wpimath.geometry._geometry.Translation3d) → wpimath.units.meters

Calculates the distance between two translations in 3D space.

The distance between translations is defined as √((x₂−x₁)²+(y₂−y₁)²+(z₂−z₁)²).

Parameters:

other – The translation to compute the distance to.

Returns:

The distance between the two translations.

distanceFeet(arg0: wpimath.geometry._geometry.Translation3d) → wpimath.units.feet
static fromFeet(x: wpimath.units.feet, y: wpimath.units.feet, z: wpimath.units.feet) → wpimath.geometry._geometry.Translation3d
norm() → wpimath.units.meters

Returns the norm, or distance from the origin to the translation.

Returns:

The norm of the translation.

normFeet() → wpimath.units.feet
rotateAround(other: wpimath.geometry._geometry.Translation3d, rot: wpimath.geometry._geometry.Rotation3d) → wpimath.geometry._geometry.Translation3d

Rotates this translation around another translation in 3D space.

Parameters:

  • other – The other translation to rotate around.

  • rot – The rotation to rotate the translation by.

Returns:

The new rotated translation.

rotateBy(other: wpimath.geometry._geometry.Rotation3d) → wpimath.geometry._geometry.Translation3d

Applies a rotation to the translation in 3D space.

For example, rotating a Translation3d of &lt;2, 0, 0&gt; by 90 degrees around the Z axis will return a Translation3d of &lt;0, 2, 0&gt;.

Parameters:

other – The rotation to rotate the translation by.

Returns:

The new rotated translation.

toTranslation2d() → wpimath.geometry._geometry.Translation2d

Returns a Translation2d representing this Translation3d projected into the X-Y plane.

toVector() → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']

Returns a 3D translation vector representation of this translation.

Returns:

A 3D translation vector representation of this translation.

property x
property x_feet
property y
property y_feet
property z
property z_feet