Package frc.lib.math

Class Axis

java.lang.Object

frc.lib.math.Axis

public class Axis
extends Object

Represents an axis.

Constructor Summary

Constructors

Constructor	Description
Axis(double xDir, double yDir)	Create new axis with a given direction.

Method Summary

Modifier and Type	Method	Description
double	dot(Translation2d point)	Get the dot product between this direction and a given point.
static Axis	fromRotation(Rotation2d rot)	Create an axis with the same direction as the given rotation.
double	getX()	Get the X direction.
double	getY()	Get the Y direction.
Interval	project(Translation2d[] points)	Project multiple points onto this axis.
void	setDirection(double xDir, double yDir)	Set the direction.
void	setFromRotation(Rotation2d rot)	Set axis direction to the same direction as the given rotation.
Axis	unaryMinus()	Get opposite direction.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

Axis

public Axis(double xDir,
 double yDir)

Create new axis with a given direction. Either xDir or yDir must be non-zero.

Method Details

fromRotation

public static Axis fromRotation(Rotation2d rot)

Create an axis with the same direction as the given rotation.

setFromRotation

public void setFromRotation(Rotation2d rot)

Set axis direction to the same direction as the given rotation.

unaryMinus

public Axis unaryMinus()

Get opposite direction. Is equivalent as far as the definition of an axis is concerned, but for implementation purposes, has a negative direction.

getX

public double getX()

Get the X direction.

getY

public double getY()

Get the Y direction.

setDirection

public void setDirection(double xDir,
 double yDir)

Set the direction. Either xDir or yDir must be non-zero.

dot

public double dot(Translation2d point)

Get the dot product between this direction and a given point.

project

public Interval project(Translation2d[] points)

Project multiple points onto this axis.