public static Translation2d fromPolar(Rotation2d direction, double magnitude) { return(new Translation2d(direction.cos() * magnitude, direction.sin() * magnitude)); }
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))); }
/** * We can also rotate Translation2d's. See: * https://en.wikipedia.org/wiki/Rotation_matrix * * @param rotation The rotation to apply. * @return This translation rotated by rotation. */ public Translation2d rotateBy(Rotation2d rotation) { return(new Translation2d(x_ * rotation.cos() - y_ * rotation.sin(), x_ * rotation.sin() + y_ * rotation.cos())); }