Transform3d

class wpimath.geometry.Transform3d(*args, **kwargs)

Bases: pybind11_object

Represents a transformation for a Pose3d in the pose’s frame.

Overloaded function.

  1. __init__(self: wpimath.geometry._geometry.Transform3d, initial: wpimath.geometry._geometry.Pose3d, final: wpimath.geometry._geometry.Pose3d) -> 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.Transform3d, translation: wpimath.geometry._geometry.Translation3d, rotation: wpimath.geometry._geometry.Rotation3d) -> 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.Transform3d, x: wpimath.units.meters, y: wpimath.units.meters, z: wpimath.units.meters, rotation: wpimath.geometry._geometry.Rotation3d) -> None

Constructs a transform with x, y, and z translations instead of a separate Translation3d.

Parameters:

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

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

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

  • rotation – The rotational component of the transform.

  1. __init__(self: wpimath.geometry._geometry.Transform3d) -> None

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

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.

Z() → wpimath.units.meters

Returns the Z component of the transformation’s translation.

Returns:

The z component of the transformation’s translation.

inverse() → wpimath.geometry._geometry.Transform3d

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

Returns:

The inverted transformation.

rotation() → wpimath.geometry._geometry.Rotation3d

Returns the rotational component of the transformation.

Returns:

Reference to the rotational component of the transform.

translation() → wpimath.geometry._geometry.Translation3d

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
property z
property z_feet