平移、旋转和姿态

翻译

Translation in 2 dimensions is represented by WPILib’s Translation2d class (Java, C++, Python). 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.

您可以使用“ getDistance（Translation2d other）”来获取到另一个“ Translation2d”对象的距离，该距离可以通过毕达哥拉斯定理返回到另一个Translation2d的距离。

备注

Translation2d uses the C++ Units library. If you’re planning on using other WPILib classes that use Translation2d in Java/Python, such as the trajectory generator, make sure to use meters.

旋转

Rotation in 2 dimensions is represented by WPILib’s Rotation2d class (Java, C++, Python). 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.

备注

Rotation2d uses the C++ Units library. The constructor in Java/Python 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.

备注

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.

位姿

Pose is a combination of both translation and rotation and is represented by the Pose2d class (Java, C++, Python). 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 \(\begin{bmatrix}x \\ y \\ \theta\end{bmatrix}\).