Rotation2d Class

Represents a 2D rotation.

Features

Create a Rotation2d object from radians, degrees, or revolutions using the from_<unit> class methods. This is the most explicit and least error-prone way to use the class.
Add or subtract two Rotation2d objects.
Multiply or divide a Rotation2d object by a scalar.
Check equality between two Rotation2d objects.
Convert the angle to radians, degrees, or revolutions.
Calculate the sine, cosine, tangent, and their hyperbolic counterparts of the angle.
Calculate the inverse of a Rotation2d object.
Normalize the rotation angle to the range -π to π radians.
Interpolate between two Rotation2d objects.

Imports

from VEXLib.Geometry.Rotation2d import Rotation2d

Usage Examples

Create a Rotation2d object from different units

rotation_radians = Rotation2d.from_radians(1.57)
print(rotation_radians)  # Output: 1.57 radians

rotation_degrees = Rotation2d.from_degrees(90)
print(rotation_degrees)  # Output: 1.5707963267948966 radians

rotation_revolutions = Rotation2d.from_revolutions(0.25)
print(rotation_revolutions)  # Output: 1.5707963267948966 radians

Add two Rotation2d objects

sum_rotation = rotation_radians + rotation_degrees
print(sum_rotation)  # Output: 3.1407963267948966 radians

Subtract two Rotation2d objects

difference_rotation = rotation_radians - rotation_degrees
print(difference_rotation)  # Output: 0.0 radians

Multiply a Rotation2d object by a scalar

scaled_rotation = rotation_radians * 2
print(scaled_rotation)  # Output: 3.14 radians

Divide a Rotation2d object by a scalar

divided_rotation = rotation_radians / 2
print(divided_rotation)  # Output: 0.785 radians

Check equality between two Rotation2d objects

are_equal = rotation_radians == rotation_degrees
print(are_equal)  # Output: True

Convert the angle to different units

print(rotation_radians.to_degrees())     # Output: 90.0
print(rotation_radians.to_revolutions()) # Output: 0.25

Calculate the sine, cosine, and tangent of the angle

print(rotation_radians.sin())  # Output: 1.0
print(rotation_radians.cos())  # Output: 0.0
print(rotation_radians.tan())  # Output: 16331239353195370.0

Calculate the inverse of a Rotation2d object

inverse_rotation = rotation_radians.inverse()
print(inverse_rotation)  # Output: -1.57 radians

Normalize the rotation angle

normalized_rotation = rotation_radians.normalize()
print(normalized_rotation)  # Output: 1.57 radians

Interpolate between two Rotation2d objects

interpolated_rotation = rotation_radians.interpolate(rotation_degrees, 0.5)
print(interpolated_rotation)  # Output: 1.57 radians

Explanation of Normalization

The normalization process for a Rotation2d object involves adjusting the rotation angle to ensure it falls within the range of -π to π radians. This is useful for maintaining consistency and avoiding issues with angles that exceed a full circle 2π radians). Rotation2d object will have an angle that is easy to work with and avoids complications from angles that are too large or too small.

21 April 2025