wpimath.geometry Package

CoordinateAxis(x, y, z)	A class representing a coordinate system axis within the NWU coordinate system.
CoordinateSystem(positiveX, positiveY, positiveZ)	A helper class that converts Pose3d objects between different standard coordinate frames.
Pose2d(*args, **kwargs)	Represents a 2D pose containing translational and rotational elements.
Pose3d(*args, **kwargs)	Represents a 3D pose containing translational and rotational elements.
Quaternion(*args, **kwargs)	Overloaded function.
Rotation2d(*args, **kwargs)	A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine).
Rotation3d(*args, **kwargs)	A rotation in a 3D coordinate frame represented by a quaternion.
Transform2d(*args, **kwargs)	Represents a transformation for a Pose2d.
Transform3d(*args, **kwargs)	Represents a transformation for a Pose3d.
Translation2d(*args, **kwargs)	Represents a translation in 2D space.
Translation3d(*args, **kwargs)	Represents a translation in 3D space.
Twist2d([dx, dy, dtheta])	A change in distance along a 2D arc since the last pose update.
Twist3d([dx, dy, dz, rx, ry, rz])	A change in distance along a 3D arc since the last pose update.