Ellipse2d

class wpimath.Ellipse2d(*args, **kwargs)

Bases: pybind11_object

Represents a 2d ellipse space containing translational, rotational, and scaling components.

Overloaded function.

  1. __init__(self: wpimath._wpimath.Ellipse2d, center: wpimath._wpimath.Pose2d, xSemiAxis: wpimath.units.meters, ySemiAxis: wpimath.units.meters) -> None

Constructs an ellipse around a center point and two semi-axes, a horizontal and vertical one.

Parameters:

  • center – The center of the ellipse.

  • xSemiAxis – The x semi-axis.

  • ySemiAxis – The y semi-axis.

  1. __init__(self: wpimath._wpimath.Ellipse2d, center: wpimath._wpimath.Translation2d, radius: typing.SupportsFloat | typing.SupportsIndex) -> None

Constructs a perfectly circular ellipse with the specified radius.

Parameters:

  • center – The center of the circle.

  • radius – The radius of the circle.

WPIStruct = <capsule object "WPyStruct">
center() → wpimath._wpimath.Pose2d

Returns the center of the ellipse.

Returns:

The center of the ellipse.

contains(point: wpimath._wpimath.Translation2d) → bool

Checks if a point is contained within this ellipse. This is inclusive, if the point lies on the circumference this will return true.

Parameters:

point – The point to check.

Returns:

True, if the point is within or on the ellipse.

distance(point: wpimath._wpimath.Translation2d) → wpimath.units.meters

Returns the distance between the perimeter of the ellipse and the point.

Parameters:

point – The point to check.

Returns:

The distance (0, if the point is contained by the ellipse)

focalPoints() → Tuple[wpimath._wpimath.Translation2d, wpimath._wpimath.Translation2d]

Returns the focal points of the ellipse. In a perfect circle, this will always return the center.

Returns:

The focal points.

static fromFeet(center: wpimath._wpimath.Pose2d, xSemiAxis: wpimath.units.feet, ySemiAxis: wpimath.units.feet) → wpimath._wpimath.Ellipse2d
intersects(point: wpimath._wpimath.Translation2d) → bool

Checks if a point is intersected by this ellipse’s circumference.

Parameters:

point – The point to check.

Returns:

True, if this ellipse’s circumference intersects the point.

nearest(point: wpimath._wpimath.Translation2d) → wpimath._wpimath.Translation2d

Returns the nearest point that is contained within the ellipse.

Parameters:

point – The point that this will find the nearest point to.

Returns:

A new point that is nearest to point and contained in the ellipse.

rotateBy(other: wpimath._wpimath.Rotation2d) → wpimath._wpimath.Ellipse2d

Rotates the center of the ellipse and returns the new ellipse.

Parameters:

other – The rotation to transform by.

Returns:

The rotated ellipse.

rotation() → wpimath._wpimath.Rotation2d

Returns the rotational component of the ellipse.

Returns:

The rotational component of the ellipse.

transformBy(other: wpimath._wpimath.Transform2d) → wpimath._wpimath.Ellipse2d

Transforms the center of the ellipse and returns the new ellipse.

Parameters:

other – The transform to transform by.

Returns:

The transformed ellipse.

property xsemiaxis
property xsemiaxis_feet
property ysemiaxis
property ysemiaxis_feet