Rectangle2d

class wpimath.Rectangle2d(*args, **kwargs)

Bases: pybind11_object

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

Overloaded function.

  1. __init__(self: wpimath._wpimath.Rectangle2d, center: wpimath._wpimath.Pose2d, xWidth: wpimath.units.meters, yWidth: wpimath.units.meters) -> None

Constructs a rectangle at the specified position with the specified width and height.

Parameters:

  • center – The position (translation and rotation) of the rectangle.

  • xWidth – The x size component of the rectangle, in unrotated coordinate frame.

  • yWidth – The y size component of the rectangle, in unrotated coordinate frame.

  1. __init__(self: wpimath._wpimath.Rectangle2d, cornerA: wpimath._wpimath.Translation2d, cornerB: wpimath._wpimath.Translation2d) -> None

Creates an unrotated rectangle from the given corners. The corners should be diagonally opposite of each other.

Parameters:

  • cornerA – The first corner of the rectangle.

  • cornerB – The second corner of the rectangle.

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

Returns the center of the rectangle.

Returns:

The center of the rectangle.

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

Checks if a point is contained within the rectangle. This is inclusive, if the point lies on the perimeter it will return true.

Parameters:

point – The point to check.

Returns:

True, if the rectangle contains the point or the perimeter intersects the point.

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

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

Parameters:

point – The point to check.

Returns:

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

static fromFeet(center: wpimath._wpimath.Pose2d, xWidth: wpimath.units.feet, yWidth: wpimath.units.feet) → wpimath._wpimath.Rectangle2d
intersects(point: wpimath._wpimath.Translation2d) → bool

Checks if a point is intersected by the rectangle’s perimeter.

Parameters:

point – The point to check.

Returns:

True, if the rectangle’s perimeter intersects the point.

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

Returns the nearest point that is contained within the rectangle.

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 rectangle.

rotateBy(other: wpimath._wpimath.Rotation2d) → wpimath._wpimath.Rectangle2d

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

Parameters:

other – The rotation to transform by.

Returns:

The rotated rectangle.

rotation() → wpimath._wpimath.Rotation2d

Returns the rotational component of the rectangle.

Returns:

The rotational component of the rectangle.

transformBy(other: wpimath._wpimath.Transform2d) → wpimath._wpimath.Rectangle2d

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

Parameters:

other – The transform to transform by.

Returns:

The transformed rectangle

property xwidth
property xwidth_feet
property ywidth
property ywidth_feet