Twist3d

class wpimath.Twist3d(dx: wpimath.units.meters = 0, dy: wpimath.units.meters = 0, dz: wpimath.units.meters = 0, rx: wpimath.units.radians = 0, ry: wpimath.units.radians = 0, rz: wpimath.units.radians = 0)

Bases: pybind11_object

A change in distance along a 3D arc since the last pose update. We can use ideas from differential calculus to create new Pose3ds from a Twist3d and vice versa.

A Twist can be used to represent a difference between two poses.

WPIStruct = <capsule object "WPyStruct">

property dx_feet

property dy_feet

property dz_feet

exp() → wpimath._wpimath.Transform3d

Obtain a new Transform3d from a (constant curvature) velocity.

See “https://file.tavsys.net/control/controls-engineering-in-frc.pdf” Controls Engineering in the FIRST Robotics Competition section 10.2 “Pose exponential” for a derivation.

The twist is a change in pose in the robot’s coordinate frame since the previous pose update. When the user runs Exp() on the twist, the user will receive the pose delta.

“Exp” represents the pose exponential, which is solving a differential equation moving the pose forward in time.

Returns:: The pose delta of the robot.

static fromFeet(dx: wpimath.units.feet = 0, dy: wpimath.units.feet = 0, dz: wpimath.units.feet = 0, rx: wpimath.units.radians = 0, ry: wpimath.units.radians = 0, rz: wpimath.units.radians = 0) → wpimath._wpimath.Twist3d

property rx_degrees

property ry_degrees

property rz_degrees