BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.util/Geometry

Geometry

object Geometry

Defines useful conversion methods for RoadRunner geometry types, restoring some removed methods from RoadRunner v0.5.

This class was created for migration purposes between RoadRunner v0.5 and v1.0, where new types were introduced and some methods removed, but these methods are still useful within BunyipsLib.

Author

Lucas Bubner, 2024

Since

6.0.0

Functions

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@JvmStatic
infix fun Pose2d.approx(other: Pose2d): Boolean

Compare two poses with an epsilon value.

@JvmStatic
infix fun Vector2d.approx(other: Vector2d): Boolean

Compare two vectors with an epsilon value.

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@JvmStatic
infix fun Pose2d.approxNormHeading(other: Pose2d): Boolean

Compare two poses with an epsilon value plus a renormalisation of heading.

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@JvmStatic
infix fun Vector2d.distTo(other: Vector2d): Double

Calculate the distance between two vectors.

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@JvmStatic
infix fun Vector2d.inchesFrom(unit: Distance): Vector2d

Create a vector in the desired units to be converted to a conventional Inches unit.

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@JvmStatic
fun Pose2d.lerp(other: Pose2d, t: Double): Pose2d

Linearly interpolate between two poses. The t parameter is not clamped between 0-1.

@JvmStatic
fun Rotation2d.lerp(other: Rotation2d, t: Double): Rotation2d

Linearly interpolate between two rotations. The t parameter is not clamped between 0-1. Rotation value will take the shortest path.

@JvmStatic
fun Vector2d.lerp(other: Vector2d, t: Double): Vector2d

Linearly interpolate between two vectors. The t parameter is not clamped between 0-1.

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@JvmStatic
fun Rotation2d.moveTowards(other: Rotation2d, stepSize: Measure<Angle>): Rotation2d

Move a rotation towards another rotation by a step size.

@JvmStatic
fun Vector2d.moveTowards(other: Vector2d, stepSizeInches: Double): Vector2d

Move a vector towards another vector by a step size.

@JvmStatic
fun Pose2d.moveTowards(other: Pose2d, stepSizeInches: Double, stepSizeRad: Double): Pose2d

Move a pose towards another pose by a step size.

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@JvmStatic
@JvmOverloads
fun Vector2d.poseFrom(tUnit: Distance = Inches, r: Double, rUnit: Angle): Pose2d

Create a pose in the desired units to be converted to conventional Inches and Radians units.

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@JvmStatic
fun Pose2d.smoothDamp(target: Pose2d, currentVelocity: Reference<Double>, smoothTime: Measure<Time>, maxVelocity: Number, deltaTime: Measure<Time>): Pose2d

Smoothly damp a pose towards another pose. Velocity will be in degrees per second.

@JvmStatic
fun Rotation2d.smoothDamp(target: Rotation2d, currentVelocity: Reference<Double>, smoothTime: Measure<Time>, maxVelocity: Number, deltaTime: Measure<Time>): Rotation2d

Smoothly damp a rotation towards another rotation. Velocity will be in degrees per second.

@JvmStatic
fun Vector2d.smoothDamp(target: Vector2d, currentVelocity: Reference<Double>, smoothTime: Measure<Time>, maxVelocity: Number, deltaTime: Measure<Time>): Vector2d

Smoothly damp a vector towards another vector.

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@JvmStatic
fun Pose2d.toUserString(): String

Returns a user-friendly representation of a Pose2d.

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@JvmStatic
fun vel(xVel: Double, yVel: Double, angVel: Double): PoseVelocity2d

Create a new PoseVelocity2d with x, y, and heading values.

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@JvmStatic
fun zeroPose(): Pose2d

Create a new Pose2d with zero values.

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@JvmStatic
fun zeroTwist(): Twist2d

Create a new Twist2d with zero values.

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@JvmStatic
fun zeroVec(): Vector2d

Create a new Vector2d with zero values.

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@JvmStatic
fun zeroVel(): PoseVelocity2d

Create a new PoseVelocity2d with zero values.