Twist3d

class wpimath.geometry.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 → wpimath.units.meters

Linear “dx” component

property dx_feet

property dy → wpimath.units.meters

Linear “dy” component

property dy_feet

property dz → wpimath.units.meters

Linear “dz” component

property dz_feet

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.geometry._geometry.Twist3d

property rx → wpimath.units.radians

Rotation vector x component.

property rx_degrees

property ry → wpimath.units.radians

Rotation vector y component.

property ry_degrees

property rz → wpimath.units.radians

Rotation vector z component.

property rz_degrees