96 lines
2.3 KiB
C++
96 lines
2.3 KiB
C++
/**
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* @file include/lemlib/pose.hpp
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* @author LemLib Team
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* @brief Pose class declarations
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* @version 0.4.5
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* @date 2023-01-23
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*
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* @copyright Copyright (c) 2023
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*
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*/
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#pragma once
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namespace lemlib {
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class Pose {
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public:
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/** @brief x value*/
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float x;
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/** @brief y value*/
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float y;
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/** @brief theta value*/
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float theta;
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/**
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* @brief Create a new pose
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*
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* @param x component
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* @param y component
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* @param theta heading. Defaults to 0
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*/
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Pose(float x, float y, float theta = 0);
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/**
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* @brief Add a pose to this pose
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*
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* @param other other pose
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* @return Pose
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*/
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Pose operator+(const Pose& other);
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/**
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* @brief Subtract a pose from this pose
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*
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* @param other other pose
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* @return Pose
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*/
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Pose operator-(const Pose& other);
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/**
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* @brief Multiply a pose by this pose
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*
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* @param other other pose
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* @return Pose
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*/
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float operator*(const Pose& other);
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/**
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* @brief Multiply a pose by a float
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*
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* @param other float
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* @return Pose
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*/
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Pose operator*(const float& other);
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/**
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* @brief Divide a pose by a float
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*
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* @param other float
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* @return Pose
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*/
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Pose operator/(const float& other);
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/**
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* @brief Linearly interpolate between two poses
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*
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* @param other the other pose
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* @param t t value
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* @return Pose
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*/
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Pose lerp(Pose other, float t);
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/**
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* @brief Get the distance between two poses
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*
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* @param other the other pose
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* @return float
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*/
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float distance(Pose other);
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/**
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* @brief Get the angle between two poses
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*
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* @param other the other pose
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* @return float in radians
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*/
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float angle(Pose other);
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/**
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* @brief Rotate a pose by an angle
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*
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* @param angle angle in radians
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* @return Pose
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*/
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Pose rotate(float angle);
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};
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} // namespace lemlib
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