Package frc.robot.math.geometry

Class Triangle2d

java.lang.Object

frc.robot.math.geometry.Triangle2d

public class Triangle2d
extends Object

2D triangle made up of 3 vertices.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final record	Triangle2d.ClosestPoint	Record holding results of a call to closestPoint(edu.wpi.first.math.geometry.Translation2d).

Field Summary

Fields

Modifier and Type	Field	Description
final Translation2d	a
final Translation2d	b
final Translation2d	c

Constructor Summary

Constructors

Constructor	Description
Triangle2d(Translation2d a, Translation2d b, Translation2d c)	Create new Triangle2d.

Method Summary

Modifier and Type	Method	Description
Triangle2d.ClosestPoint	closestPoint(Translation2d p)	Finds closest point on triangle to a query point.
double	sdf(Translation2d p)	Evaluate signed distance function at a given point

Methods inherited from class java.lang.Object

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

Field Details

a

public final Translation2d a

b

public final Translation2d b

c

public final Translation2d c

Constructor Details

Triangle2d

public Triangle2d(Translation2d a,
 Translation2d b,
 Translation2d c)

Create new Triangle2d.

Method Details

closestPoint

public Triangle2d.ClosestPoint closestPoint(Translation2d p)

Finds closest point on triangle to a query point.

sdf

public double sdf(Translation2d p)

Evaluate signed distance function at a given point