GeometryConvertor (project API)

java.lang.Object

org.ironmaple.utils.mathutils.GeometryConvertor

public class GeometryConvertor extends Object

utils to convert between WPILIB and dyn4j geometry classes

Constructor Summary

Constructors

Constructor

Description

GeometryConvertor()
Method Summary

Modifier and Type

Method

Description

static Translation2d

getChassisSpeedsTranslationalComponent(ChassisSpeeds chassisSpeeds)

static org.dyn4j.geometry.Vector2

toDyn4jLinearVelocity(ChassisSpeeds wpilibChassisSpeeds)

static org.dyn4j.geometry.Rotation

toDyn4jRotation(Rotation2d wpilibRotation2d)

static org.dyn4j.geometry.Transform

toDyn4jTransform(Pose2d wpilibPose2d)

static org.dyn4j.geometry.Vector2

toDyn4jVector2(Translation2d wpilibTranslation2d)

static ChassisSpeeds

toWpilibChassisSpeeds(org.dyn4j.geometry.Vector2 dyn4jLinearVelocity, double angularVelocityRadPerSec)

static Pose2d

toWpilibPose2d(org.dyn4j.geometry.Transform dyn4jTransform)

static Rotation2d

toWpilibRotation2d(org.dyn4j.geometry.Rotation dyn4jRotation)

static Translation2d

toWpilibTranslation2d(org.dyn4j.geometry.Vector2 dyn4jVector2)

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details
- GeometryConvertor
  
  public GeometryConvertor()
Method Details
- toDyn4jVector2
  
  public static org.dyn4j.geometry.Vector2 toDyn4jVector2(Translation2d wpilibTranslation2d)
- toWpilibTranslation2d
  
  public static Translation2d toWpilibTranslation2d(org.dyn4j.geometry.Vector2 dyn4jVector2)
- toDyn4jRotation
  
  public static org.dyn4j.geometry.Rotation toDyn4jRotation(Rotation2d wpilibRotation2d)
- toWpilibRotation2d
  
  public static Rotation2d toWpilibRotation2d(org.dyn4j.geometry.Rotation dyn4jRotation)
- toDyn4jTransform
  
  public static org.dyn4j.geometry.Transform toDyn4jTransform(Pose2d wpilibPose2d)
- toWpilibPose2d
  
  public static Pose2d toWpilibPose2d(org.dyn4j.geometry.Transform dyn4jTransform)
- toDyn4jLinearVelocity
  
  public static org.dyn4j.geometry.Vector2 toDyn4jLinearVelocity(ChassisSpeeds wpilibChassisSpeeds)
- toWpilibChassisSpeeds
  
  public static ChassisSpeeds toWpilibChassisSpeeds(org.dyn4j.geometry.Vector2 dyn4jLinearVelocity, double angularVelocityRadPerSec)
- getChassisSpeedsTranslationalComponent
  
  public static Translation2d getChassisSpeedsTranslationalComponent(ChassisSpeeds chassisSpeeds)