Translation2d

class wpimath.Translation2d(*args, **kwargs)

Bases: pybind11_object

Represents a translation in 2D 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 and left is positive Y.

Overloaded function.

  1. __init__(self: wpimath._wpimath.Translation2d) -> None

Constructs a Translation2d with X and Y components equal to zero.

  1. __init__(self: wpimath._wpimath.Translation2d, x: wpimath.units.meters, y: wpimath.units.meters) -> None

Constructs a Translation2d with the X and Y components equal to the provided values.

Parameters:

  • x – The x component of the translation.

  • y – The y component of the translation.

  1. __init__(self: wpimath._wpimath.Translation2d, distance: wpimath.units.meters, angle: wpimath._wpimath.Rotation2d) -> None

Constructs a Translation2d 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._wpimath.Translation2d, vector: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[2, 1]”]) -> None

Constructs a Translation2d from a 2D translation vector. The values are assumed to be in meters.

Parameters:

vector – The translation vector.

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

Returns the X component of the translation.

Returns:

The X component of the translation.

Y() → wpimath.units.meters

Returns the Y component of the translation.

Returns:

The Y component of the translation.

angle() → wpimath._wpimath.Rotation2d

Returns the angle this translation forms with the positive X axis.

Returns:

The angle of the translation

cross(other: wpimath._wpimath.Translation2d) → wpimath.units.square_meters

Computes the cross product between this translation and another translation in 2D space.

The 2D cross product between two translations is defined as x₁y₂-x₂y₁.

Parameters:

other – The translation to compute the cross product with.

Returns:

The cross product between the two translations.

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

Calculates the distance between two translations in 2D space.

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

Parameters:

other – The translation to compute the distance to.

Returns:

The distance between the two translations.

distanceFeet(arg0: wpimath._wpimath.Translation2d) → wpimath.units.feet
dot(other: wpimath._wpimath.Translation2d) → wpimath.units.square_meters

Computes the dot product between this translation and another translation in 2D space.

The dot product between two translations is defined as x₁x₂+y₁y₂.

Parameters:

other – The translation to compute the dot product with.

Returns:

The dot product between the two translations.

static fromFeet(*args, **kwargs)

Overloaded function.

  1. fromFeet(x: wpimath.units.feet, y: wpimath.units.feet) -> wpimath._wpimath.Translation2d

  2. fromFeet(distance: wpimath.units.feet, angle: wpimath._wpimath.Rotation2d) -> wpimath._wpimath.Translation2d

nearest(translations: List[wpimath._wpimath.Translation2d]) → wpimath._wpimath.Translation2d

Returns the nearest Translation2d from a collection of translations

Parameters:

translations – The collection of translations.

Returns:

The nearest Translation2d from the collection.

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._wpimath.Translation2d, rot: wpimath._wpimath.Rotation2d) → wpimath._wpimath.Translation2d

Rotates this translation around another translation in 2D space.

[x_new]   [rot.cos, -rot.sin][x - other.x]   [other.x]
[y_new] = [rot.sin,  rot.cos][y - other.y] + [other.y]
Parameters:

  • other – The other translation to rotate around.

  • rot – The rotation to rotate the translation by.

Returns:

The new rotated translation.

rotateBy(other: wpimath._wpimath.Rotation2d) → wpimath._wpimath.Translation2d

Applies a rotation to the translation in 2D space.

This multiplies the translation vector by a counterclockwise rotation matrix of the given angle.

[x_new]   [other.cos, -other.sin][x]
[y_new] = [other.sin,  other.cos][y]

For example, rotating a Translation2d of &lt;2, 0&gt; by 90 degrees will return a Translation2d of &lt;0, 2&gt;.

Parameters:

other – The rotation to rotate the translation by.

Returns:

The new rotated translation.

squaredDistance(other: wpimath._wpimath.Translation2d) → wpimath.units.square_meters

Calculates the square of the distance between two translations in 2D space. This is equivalent to squaring the result of Distance(Translation2d), but avoids computing a square root.

The square of the distance between translations is defined as (x₂−x₁)²+(y₂−y₁)².

Parameters:

other – The translation to compute the squared distance to.

Returns:

The square of the distance between the two translations.

squaredNorm() → wpimath.units.square_meters

Returns the squared norm, or squared distance from the origin to the translation. This is equivalent to squaring the result of Norm(), but avoids computing a square root.

Returns:

The squared norm of the translation.

toVector() → Annotated[numpy.typing.NDArray[numpy.float64], '[2, 1]']

Returns a 2D translation vector representation of this translation.

Returns:

A 2D translation vector representation of this translation.

property x
property x_feet
property y
property y_feet