# Transfert, Rotation et Pose

## Transfert

Translation in 2 dimensions is represented by WPILib’s Translation2d class (Java, C++). This class has an x and y component, representing the point $$(x, y)$$ or the vector $$\begin{bmatrix}x \\ y \end{bmatrix}$$ on a 2-dimensional coordinate system.

Vous pouvez obtenir la distance à l’autre objet Translation2d en utilisant le getDistance(Translation2d other), qui calcule la distance vectorielle entre les deux Translation2d en utilisant le théorème de Pythagore

Note

Translation2d utilise la librairie d’unités en C++ (Units). Si vous planifiez utiliser d’autre classes WPILib qui utilisent Translation2d en Java, tel que le générateur de trajectoire, assurez-vous d’utiliser les mètres.

## Rotation

Rotation in 2 dimensions is represented by WPILib’s Rotation2d class (Java, C++). This class has an angle component, which represents the robot’s rotation relative to an axis on a 2-dimensional coordinate system. Positive rotations are counterclockwise.

Note

Rotation2d uses the C++ Units library. The constructor in Java accepts either the angle in radians, or the sine and cosine of the angle, but the fromDegrees method will construct a Rotation2d object from degrees.

Note

Rotation2d does not wrap the value of the angle, so if a value of 400 degrees is passed into the constructor, then 400 degrees will be returned in subsequent value calls.

## Pose

Pose is a combination of both translation and rotation and is represented by the Pose2d class (Java, C++). It can be used to describe the pose of your robot in the field coordinate system, or the pose of objects, such as vision targets, relative to your robot in the robot coordinate system. Pose2d can also represent the vector $$\begin{bmatrix}x \\ y \\ \theta\end{bmatrix}$$.