Pose

class Pose(var x: Double = 0.0, var y: Double = 0.0, var r: Double = 0.0)

Class describing a position and rotation in 2D. This class can also be used to describe things like 2D velocity or chassis power.

X Position

Y Position

Rotation in radians

Constructors

constructor(x: Double = 0.0, y: Double = 0.0, r: Double = 0.0)

fun add(input: Pose, rotate: Boolean = false)

Add another pose to this pose

Clone the pose

Get the euclidean length of the XY component of the pose

Normalize the position of the pose

fun rotate(amount: Double, pivot: Pose = Pose(0.0,0.0,0.0))

Rotate the position of the pose around a pivot. NOTE: This does not affect the R value of the pose

fun scale(scalar: Double, rotate: Boolean = false)

Scale the pose

fun setOrigin(origin: Pose, rotate: Boolean = true)

Change the reference frame of the to another pose. Equivalent to subtract operation but with an added rotation transform.

fun stepAlongR(distance: Double, offset: Double = 0.0)

Move the XY of the pose in the direction of R

fun subtract(input: Pose, rotate: Boolean = true)

Subtract a this pose by another pose.

open override fun toString(): String