Pose2d Class

Represents a 2D pose composed of a Translation2d and a Rotation2d.

Features

Create a Pose2d object with translation and rotation.
Add or subtract two Pose2d objects.
Multiply a Pose2d object by a scalar.
Check equality between two Pose2d objects.
String representation of a Pose2d object.
Create a Pose2d object from given Translation2d and Rotation2d objects.
Create a Pose2d object with zero translation and rotation.
Create a Pose2d object from a Translation2d object assuming the rotation is zero radians by default.
Create a Pose2d object from a Rotation2d object assuming the translation is (0, 0) meters by default.

Imports

from VEXLib.Geometry.Translation2d import Translation2d
from VEXLib.Geometry.Rotation2d import Rotation2d
from VEXLib.Geometry.Pose2d import Pose2d

Usage Examples

Create a Pose2d object

translation = Translation2d.from_meters(3, 4)
rotation = Rotation2d.from_degrees(90)
pose = Pose2d(translation, rotation)
print(pose)  # Output: Translation: (3m, 4m), Rotation: 1.5707963267948966 radians

Add two Pose2d objects

pose1 = Pose2d(Translation2d.from_meters(3, 4), Rotation2d.from_degrees(90))
pose2 = Pose2d(Translation2d.from_meters(1, 2), Rotation2d.from_degrees(45))
sum_pose = pose1 + pose2
print(sum_pose)  # Output: Translation: (4m, 6m), Rotation: 2.356194490192345 radians

Subtract two Pose2d objects

pose1 = Pose2d(Translation2d.from_meters(3, 4), Rotation2d.from_degrees(90))
pose2 = Pose2d(Translation2d.from_meters(1, 2), Rotation2d.from_degrees(45))
difference_pose = pose1 - pose2
print(difference_pose)  # Output: Translation: (2m, 2m), Rotation: 0.7853981633974483 radians

Multiply a Pose2d object by a scalar

pose = Pose2d(Translation2d.from_meters(3, 4), Rotation2d.from_degrees(90))
scaled_pose = pose * 2
print(scaled_pose)  # Output: Translation: (6m, 8m), Rotation: 3.141592653589793 radians

Check equality between two Pose2d objects

pose1 = Pose2d(Translation2d.from_meters(3, 4), Rotation2d.from_degrees(90))
pose2 = Pose2d(Translation2d.from_meters(3, 4), Rotation2d.from_degrees(90))
are_equal = pose1 == pose2
print(are_equal)  # Output: True

Create a Pose2d object with zero translation and rotation

zero_pose = Pose2d.from_zero()
print(zero_pose)  # Output: Translation: (0m, 0m), Rotation: 0.0 radians

Create a Pose2d object from a Translation2d object

translation = Translation2d.from_meters(3, 4)
pose = Pose2d.from_translation2d(translation)
print(pose)  # Output: Translation: (3m, 4m), Rotation: 0.0 radians

Create a Pose2d object from a Rotation2d object

rotation = Rotation2d.from_degrees(90)
pose = Pose2d.from_rotation2d(rotation)
print(pose)  # Output: Translation: (0m, 0m), Rotation: 1.5707963267948966 radians

21 April 2025