Translation2d

class wpimath.geometry.Translation2d(*args, **kwargs)

Bases: pybind11_object

Represents a translation in 2D space. This object can be used to represent a point or a vector.

This assumes that you are using conventional mathematical axes. When the robot is at the origin facing in the positive X direction, forward is positive X and left is positive Y.

Overloaded function.

  1. __init__(self: wpimath.geometry._geometry.Translation2d) -> None

Constructs a Translation2d with X and Y components equal to zero.

  1. __init__(self: wpimath.geometry._geometry.Translation2d, x: meters, y: meters) -> None

Constructs a Translation2d with the X and Y components equal to the provided values.

Parameters:
  • x – The x component of the translation.

  • y – The y component of the translation.

  1. __init__(self: wpimath.geometry._geometry.Translation2d, distance: meters, angle: wpimath.geometry._geometry.Rotation2d) -> None

Constructs a Translation2d with the provided distance and angle. This is essentially converting from polar coordinates to Cartesian coordinates.

Parameters:
  • distance – The distance from the origin to the end of the translation.

  • angle – The angle between the x-axis and the translation vector.

X() meters

Returns the X component of the translation.

Returns:

The X component of the translation.

Y() meters

Returns the Y component of the translation.

Returns:

The Y component of the translation.

angle() wpimath.geometry._geometry.Rotation2d

Returns the angle this translation forms with the positive X axis.

Returns:

The angle of the translation

distance(other: wpimath.geometry._geometry.Translation2d) meters

Calculates the distance between two translations in 2D space.

The distance between translations is defined as √((x₂−x₁)²+(y₂−y₁)²).

Parameters:

other – The translation to compute the distance to.

Returns:

The distance between the two translations.

distanceFeet(arg0: wpimath.geometry._geometry.Translation2d) feet
static fromFeet(x: feet, y: feet) wpimath.geometry._geometry.Translation2d
nearest(translations: List[wpimath.geometry._geometry.Translation2d]) wpimath.geometry._geometry.Translation2d

Returns the nearest Translation2d from a collection of translations

Parameters:

translations – The collection of translations.

Returns:

The nearest Translation2d from the collection.

norm() meters

Returns the norm, or distance from the origin to the translation.

Returns:

The norm of the translation.

normFeet() feet
rotateBy(other: wpimath.geometry._geometry.Rotation2d) wpimath.geometry._geometry.Translation2d

Applies a rotation to the translation in 2D space.

This multiplies the translation vector by a counterclockwise rotation matrix of the given angle.

[x_new]   [other.cos, -other.sin][x]
[y_new] = [other.sin,  other.cos][y]

For example, rotating a Translation2d of <2, 0> by 90 degrees will return a Translation2d of <0, 2>.

Parameters:

other – The rotation to rotate the translation by.

Returns:

The new rotated translation.

property x
property x_feet
property y
property y_feet