[wpimath] Add Twist3d.toTwist2d() - #9281
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Added method to convert Twist3d to Twist2d representation.
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| * @return The Twist2d of the robot | ||
| */ | ||
| public Twist2d toTwist2d(){ | ||
| return new Twist2d(dx, dy, rx); |
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When converting the usual planar motion—where yaw is stored in rz and rx is zero—this returns a Twist2d with zero angular displacement, so applying the result loses every turn; conversely, roll is incorrectly interpreted as planar rotation. Twist2d.dtheta is rotation in the X-Y plane, consistent with Rotation3d.toRotation2d() projecting via the Z component, so the third argument must be rz.
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This comment is correct. Please replace rx with rz.
calcmogul
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calcmogul
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This needs a C++ port. Furthermore, wpimath/src/main/python/semiwrap/Twist3d.yml needs ToTwist2d: added before Exp:.
| * Returns a Twist2d representation with the X Rotation | ||
| * @return The Twist2d of the robot |
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Please follow the docs phrasing from Pose3d.toPose2d(), Translation3d.toTranslation2d(), and Rotation3d.toRotation2d().
| * @return The Twist2d of the robot | ||
| */ | ||
| public Twist2d toTwist2d(){ | ||
| return new Twist2d(dx, dy, rx); |
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This comment is correct. Please replace rx with rz.
calcmogul
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Added method to convert Twist3d to Twist2d representation.