0.2.1

core/com.acmerobotics.roadrunner.geometry/Rotation2d

Rotation2d

@Serializable

data class Rotation2d(val real: Double, val imag: Double)

Rotation \(\theta\) represented by the unit circle point \((\cos \theta, \sin \theta)\) or unit-modulus complex number \(\cos \theta + i \sin \theta\).

Advanced: Rotations in two dimensions comprise a Lie group referred to as SO(2). The terminology exp and log comes from the Lie theory, and this paper gives a targeted exposition of the key fundamentals.

Constructors

constructor(real: Double, imag: Double)

Types

object Companion

Properties

val imag: Double

val real: Double

Functions

fun Rotation2d.dual(): Rotation2dDual<Arclength>

fun inverse(): Rotation2d

fun log(): Double

Get the rotation as a normalized Double.

operator fun minus(r: Rotation2d): Double

operator fun plus(x: Double): Rotation2d

operator fun times(pv: PoseVelocity2d): PoseVelocity2d

operator fun times(r: Rotation2d): Rotation2d

operator fun times(v: Vector2d): Vector2d

fun toDouble(): Double

Alias for log.

fun vec(): Vector2d