Rotation2d

class wpimath.Rotation2d(*args, **kwargs)

Bases: pybind11_object

A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine).

Overloaded function.

  1. __init__(self: wpimath._wpimath.Rotation2d) -> None

Constructs a Rotation2d with a default angle of 0 degrees.

  1. __init__(self: wpimath._wpimath.Rotation2d, value: wpimath.units.radians) -> None

Constructs a Rotation2d with the given radian value. :param value: The value of the angle in radians.

  1. __init__(self: wpimath._wpimath.Rotation2d, x: typing.SupportsFloat | typing.SupportsIndex, y: typing.SupportsFloat | typing.SupportsIndex) -> None

Constructs a Rotation2d 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.

WPIStruct = <capsule object "WPyStruct">
cos() → float

Returns the cosine of the rotation.

Returns:

The cosine of the rotation.

degrees() → wpimath.units.degrees

Returns the degree value of the rotation constrained within [-180, 180].

Returns:

The degree value of the rotation constrained within [-180, 180].

static fromDegrees(value: wpimath.units.degrees) → wpimath._wpimath.Rotation2d
static fromMatrix(rotationMatrix: Annotated[numpy.typing.ArrayLike, numpy.float64, '[2, 2]']) → wpimath._wpimath.Rotation2d

Constructs a Rotation2d from a rotation matrix.

Parameters:

rotationMatrix – The rotation matrix. @throws std::domain_error if the rotation matrix isn’t special orthogonal.

static fromRotations(arg0: wpimath.units.turns) → wpimath._wpimath.Rotation2d
radians() → wpimath.units.radians

Returns the radian value of the rotation constrained within [-π, π].

Returns:

The radian value of the rotation constrained within [-π, π].

relativeTo(other: wpimath._wpimath.Rotation2d) → wpimath._wpimath.Rotation2d

Returns the current rotation relative to the given rotation.

Parameters:

other – The rotation describing the orientation of the new coordinate frame that the current rotation will be converted into.

Returns:

The current rotation relative to the new orientation of the coordinate frame.

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

Adds the new rotation to the current rotation using a rotation matrix.

[cos_new]   [other.cos, -other.sin][cos]
[sin_new] = [other.sin,  other.cos][sin]
value_new = std::atan2(sin_new, cos_new)
Parameters:

other – The rotation to rotate by.

Returns:

The new rotated Rotation2d.

sin() → float

Returns the sine of the rotation.

Returns:

The sine of the rotation.

tan() → float

Returns the tangent of the rotation.

Returns:

The tangent of the rotation.

toMatrix() → Annotated[numpy.typing.NDArray[numpy.float64], '[2, 2]']

Returns matrix representation of this rotation.