core/com.acmerobotics.roadrunner/Rotation2d

Rotation2d

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

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

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

Rotation2d

constructor(real: Double, imag: Double)

Types

Companion

object Companion

Properties

val imag: Double

val real: Double

Functions

inverse

fun inverse(): Rotation2d

log

fun log(): Double

Get the rotation as a normalized Double.

minus

operator fun minus(r: Rotation2d): Double

plus

operator fun plus(x: Double): Rotation2d

times

operator fun times(pv: PoseVelocity2d): PoseVelocity2d

operator fun times(r: Rotation2d): Rotation2d

operator fun times(v: Vector2d): Vector2d

toDouble

fun toDouble(): Double

Alias for log.

vec

fun vec(): Vector2d