Rotation2d
- class wpimath.geometry.Rotation2d(*args, **kwargs)
Bases:
pybind11_object
A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine).
The angle is continuous, that is if a Rotation2d is constructed with 361 degrees, it will return 361 degrees. This allows algorithms that wouldn’t want to see a discontinuity in the rotations as it sweeps past from 360 to 0 on the second time around.
Overloaded function.
__init__(self: wpimath.geometry._geometry.Rotation2d) -> None
Constructs a Rotation2d with a default angle of 0 degrees.
__init__(self: wpimath.geometry._geometry.Rotation2d, value: radians) -> None
Constructs a Rotation2d with the given radian value.
- Parameters:
value – The value of the angle in radians.
__init__(self: wpimath.geometry._geometry.Rotation2d, x: float, y: float) -> None
Constructs a Rotation2d with the given x and y (cosine and sine) components. The x and y don’t have to be normalized.
- Parameters:
x – The x component or cosine of the rotation.
y – The y component or sine of the rotation.
- cos() float
Returns the cosine of the rotation.
- Returns:
The cosine of the rotation.
- degrees() degrees
Returns the degree value of the rotation.
- Returns:
The degree value of the rotation. @see InputModulus to constrain the angle within (-180, 180]
- static fromDegrees(value: degrees) wpimath.geometry._geometry.Rotation2d
- radians() radians
Returns the radian value of the rotation.
- Returns:
The radian value of the rotation. @see AngleModulus to constrain the angle within (-pi, pi]
- rotateBy(other: wpimath.geometry._geometry.Rotation2d) wpimath.geometry._geometry.Rotation2d
Adds the new rotation to the current rotation using a rotation matrix.
[cos_new] [other.cos, -other.sin][cos] [sin_new] = [other.sin, other.cos][sin] value_new = std::atan2(sin_new, cos_new)
- Parameters:
other – The rotation to rotate by.
- Returns:
The new rotated Rotation2d.
- sin() float
Returns the sine of the rotation.
- Returns:
The sine of the rotation.
- tan() float
Returns the tangent of the rotation.
- Returns:
The tangent of the rotation.