0.2.1

core/com.acmerobotics.roadrunner.geometry/Pose2dDual

Pose2dDual

@Serializable

data class Pose2dDual<Param : DualParameter>(val position: Vector2dDual<Param>, val heading: Rotation2dDual<Param>)

Dual version of Pose2d.

Constructors

constructor(positionX: DualNum<Param>, positionY: DualNum<Param>, heading: Rotation2dDual<Param>)

constructor(positionX: DualNum<Param>, positionY: DualNum<Param>, heading: DualNum<Param>)

constructor(position: Vector2dDual<Param>, heading: Rotation2dDual<Param>)

Types

object Companion

Properties

val heading: Rotation2dDual<Param>

val position: Vector2dDual<Param>

Functions

fun inverse(): Pose2dDual<Param>

operator fun plus(t: Twist2d): Pose2dDual<Param>

fun <NewParam : DualParameter> reparam(oldParam: DualNum<NewParam>): Pose2dDual<NewParam>

operator fun times(p: Pose2d): Pose2dDual<Param>

operator fun times(p: Pose2dDual<Param>): Pose2dDual<Param>

operator fun times(pv: PoseVelocity2dDual<Param>): PoseVelocity2dDual<Param>

fun value(): Pose2d

fun velocity(): PoseVelocity2dDual<Param>