Transform2d

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

Bases: pybind11_object

Represents a transformation for a Pose2d.

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) -> None

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

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

X() → meters

Returns the X component of the transformation’s translation.

Returns:

The x component of the transformation’s translation.

Y() → meters

Returns the Y component of the transformation’s translation.

Returns:

The y component of the transformation’s translation.

static fromFeet(x: feet, y: feet, angle: radians) → wpimath.geometry._geometry.Transform2d
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.

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