Package frc.lib.math

Class Circle

java.lang.Object

frc.lib.math.Circle

All Implemented Interfaces:

ConvexShape, Drawable

public class Circle
extends Object
implements ConvexShape, Drawable

Represents a circle with a known center and radius.

Field Summary

Fields

Modifier and Type	Field	Description
String	name

Constructor Summary

Constructors

Constructor	Description
Circle(String name, Translation2d center, double radius)	Represents a circle with a known center and radius.

Method Summary

Modifier and Type	Method	Description
RotationInterval	circleTangentAngles(Translation2d p)	Get angles for points that are both tangent to the circle and colinear with a given point.
boolean	contains(Translation2d pt)	Get if a point is within the boundary of the circle.
void	drawImpl()	Draw to AdvantageScope unconditionally.
Rotation2d	getAngle(Translation2d pt)	Get angle of a point with respect to the circle's center.
Axis[]	getAxes()	Get the axes of this ConvexShape.
Translation2d	getCenter()	Get the center of this ConvexShape.
double	getRadius()	Get the circle's radius
Translation2d	getVertex(Rotation2d rotation)	Get point on the circle with a given angle.
Translation2d	getVertex(Rotation2d rotation, double extra)	Get point on the circle with a given angle and extra radius.
Interval	project(Axis axis)	Get the Interval of this ConvexShape projected onto the given Axis.
double	sdf(Translation2d pt)	Get the signed distance of a point with respect to the circle.
void	setCenter(Translation2d center)	Set the circle's center
void	setRadius(double radius)	Set the circle's radius

Methods inherited from class java.lang.Object

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

Methods inherited from interface frc.lib.util.viz.Drawable

draw

Field Details

name

public String name

Constructor Details

Circle

public Circle(String name,
 Translation2d center,
 double radius)

Represents a circle with a known center and radius.

Method Details

drawImpl

public void drawImpl()

Description copied from interface: Drawable

Draw to AdvantageScope unconditionally.

Specified by:

drawImpl in interface Drawable

getAxes

public Axis[] getAxes()

Description copied from interface: ConvexShape

Get the axes of this ConvexShape.

Specified by:

getAxes in interface ConvexShape

project

public Interval project(Axis axis)

Description copied from interface: ConvexShape

Get the Interval of this ConvexShape projected onto the given Axis.

Specified by:

project in interface ConvexShape

getCenter

public Translation2d getCenter()

Description copied from interface: ConvexShape

Get the center of this ConvexShape.

Specified by:

getCenter in interface ConvexShape

setCenter

public void setCenter(Translation2d center)

Set the circle's center

getRadius

public double getRadius()

Get the circle's radius

setRadius

public void setRadius(double radius)

Set the circle's radius

contains

public boolean contains(Translation2d pt)

Get if a point is within the boundary of the circle.

sdf

public double sdf(Translation2d pt)

Get the signed distance of a point with respect to the circle.

getAngle

public Rotation2d getAngle(Translation2d pt)

Get angle of a point with respect to the circle's center.

getVertex

public Translation2d getVertex(Rotation2d rotation)

Get point on the circle with a given angle.

getVertex

public Translation2d getVertex(Rotation2d rotation,
 double extra)

Get point on the circle with a given angle and extra radius.

circleTangentAngles

public RotationInterval circleTangentAngles(Translation2d p)

Get angles for points that are both tangent to the circle and colinear with a given point.