Transform3d

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

Bases: pybind11_object

Represents a transformation for a Pose3d.

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.

2. __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.

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

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

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.

Z() → 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