private static Translation2d intersectionInternal(Pose2d a, Pose2d b)
{
Rotation2d a_r = a.getRotation();
Rotation2d b_r = b.getRotation();
Translation2d a_t = a.getTranslation();
Translation2d b_t = b.getTranslation();
double tan_b = b_r.tan();
double t = ((a_t.x() - b_t.x()) * tan_b + b_t.y() - a_t.y()) / (a_r.sin() - a_r.cos() * tan_b);
if (Double.IsNaN(t))
{
return(new Translation2d(Double.PositiveInfinity, Double.PositiveInfinity));
}
return(a_t.translateBy(a_r.toTranslation().scale(t)));
}
/**
* Transforming this RigidTransform2d means first translating by
* other.translation and then rotating by other.rotation
*
* @param other The other transform.
* @return This transform * other
*/
public Pose2d transformBy(Pose2d other)
{
return(new Pose2d(translation_.translateBy(other.translation_.rotateBy(rotation_)),
rotation_.rotateBy(other.rotation_)));
}
