Package frc.robot.util

Class PoseUtil

java.lang.Object

frc.robot.util.PoseUtil

public class PoseUtil
extends Object

Utility classes for working with poses.

Constructor Summary

Constructors

Constructor	Description
PoseUtil()

Method Summary

Modifier and Type	Method	Description
static Pose2d	flipPoseAlliance(Pose2d pose)	Flips a pose to the other alliance.
static Transform2d	flipTransformY(Transform2d transform)	Flips a transform across the X axis (inverts the Y axis).
static Translation2d	flipTranslationAlliance(Translation2d translation)	Flips a translation to the other alliance.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

PoseUtil

public PoseUtil()

Method Details

flipPoseAlliance

public static Pose2d flipPoseAlliance(Pose2d pose)

Flips a pose to the other alliance.

Parameters:

pose - Pose to flip.

Returns:

Flipped pose.

flipTranslationAlliance

public static Translation2d flipTranslationAlliance(Translation2d translation)

Flips a translation to the other alliance.

Parameters:

translation - Translation to flip.

Returns:

Flipped translation.

flipTransformY

public static Transform2d flipTransformY(Transform2d transform)

Flips a transform across the X axis (inverts the Y axis).

Parameters:

transform - Transform to flip.

Returns:

Flipped transform.