Transform2d

class wpimath.geometry.Transform2d(*args, **kwargs)

Bases: pybind11_object

Represents a transformation for a Pose2d in the pose’s frame.

Overloaded function.

  1. __init__(self: wpimath.geometry._geometry.Transform2d, initial: wpimath.geometry._geometry.Pose2d, final: wpimath.geometry._geometry.Pose2d) -> None

Constructs the transform that maps the initial pose to the final pose.

Parameters:

  • initial – The initial pose for the transformation.

  • final – The final pose for the transformation.

  1. __init__(self: wpimath.geometry._geometry.Transform2d, translation: wpimath.geometry._geometry.Translation2d, rotation: wpimath.geometry._geometry.Rotation2d) -> None

Constructs a transform with the given translation and rotation components.

Parameters:

  • translation – Translational component of the transform.

  • rotation – Rotational component of the transform.

  1. __init__(self: wpimath.geometry._geometry.Transform2d, x: wpimath.units.meters, y: wpimath.units.meters, rotation: wpimath.geometry._geometry.Rotation2d) -> None

Constructs a transform with x and y translations instead of a separate Translation2d.

Parameters:

  • x – The x component of the translational component of the transform.

  • y – The y component of the translational component of the transform.

  • rotation – The rotational component of the transform.

  1. __init__(self: wpimath.geometry._geometry.Transform2d) -> None

Constructs the identity transform – maps an initial pose to itself.

  1. __init__(self: wpimath.geometry._geometry.Transform2d, x: wpimath.units.meters, y: wpimath.units.meters, angle: wpimath.units.radians) -> None

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

Returns the X component of the transformation’s translation.

Returns:

The x component of the transformation’s translation.

Y() → wpimath.units.meters

Returns the Y component of the transformation’s translation.

Returns:

The y component of the transformation’s translation.

static fromFeet(x: wpimath.units.feet, y: wpimath.units.feet, angle: wpimath.units.radians) → wpimath.geometry._geometry.Transform2d
static fromMatrix(matrix: numpy.ndarray[numpy.float64[3, 3]]) → wpimath.geometry._geometry.Transform2d

Constructs a pose with the specified affine transformation matrix.

Parameters:

matrix – The affine transformation matrix. @throws std::domain_error if the affine transformation matrix is invalid.

inverse() → wpimath.geometry._geometry.Transform2d

Invert the transformation. This is useful for undoing a transformation.

Returns:

The inverted transformation.

rotation() → wpimath.geometry._geometry.Rotation2d

Returns the rotational component of the transformation.

Returns:

Reference to the rotational component of the transform.

toMatrix() → numpy.ndarray[numpy.float64[3, 3]]

Returns an affine transformation matrix representation of this transformation.

translation() → wpimath.geometry._geometry.Translation2d

Returns the translation component of the transformation.

Returns:

Reference to the translational component of the transform.

property x
property x_feet
property y
property y_feet