Transform2D (ROOSTER API)

java.lang.Object
- org.team1540.rooster.datastructures.twod.Transform2D

```
public class Transform2D
extends Object
```
2D pose data structure class

Field Summary

Fields
Modifier and Type Field Description

static Transform2D ZERO

Constructor Summary

Constructors
Constructor Description

Transform2D(double x, double y, double theta)

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`Transform2D`	`add(Transform2D other)`
`org.apache.commons.math3.geometry.euclidean.twod.Vector2D`	`getPositionVector()`
`double`	`getTheta()`
`double`	`getX()`
`double`	`getY()`
`void`	`putToNetworkTable(String networkTablesPath)`
`Transform2D`	`subtract(Transform2D other)`
`Transform3D`	`toTransform3D()`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail
- ZERO
```
public static final Transform2D ZERO
```

Constructor Detail
- Transform2D
```
public Transform2D(double x,
                   double y,
                   double theta)
```
  Parameters:
  
  x - Distance in meters in the X direction
  
  y - Distance in meters in the Y direction
  
  theta - Angle in radians between -PI and PI

Method Detail

getX
```
public double getX()
```

getY
```
public double getY()
```

getTheta
```
public double getTheta()
```

getPositionVector

public org.apache.commons.math3.geometry.euclidean.twod.Vector2D getPositionVector()

toTransform3D
```
public Transform3D toTransform3D()
```

add

public Transform2D add(Transform2D other)

subtract

public Transform2D subtract(Transform2D other)

putToNetworkTable

public void putToNetworkTable(String networkTablesPath)