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Pose2d

Pose2d represents a full robot pose: a Translation2d (x, y position) and a Rotation2d (orientation).

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Why It's Useful

Pose2d provides a unified way to describe the robot's location and heading. It's essential for localization, motion planning, and integrating sensor data.

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Common Use Cases

  • Odometry: Track robot's position on the field using encoder and gyro data

  • Vision fusion: Combine camera-based measurements (e.g., AprilTags) with wheel-based estimates using RobotState

  • Trajectory following: Compare robot's real-time Pose2d with planned trajectory states to generate correction commands

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Useful Methods

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These are for the 254 Geometry classes, these will either have a different name or not exist in the WPILib class

For the following methods Pose represents an instance of the Pose2d class, Rot represent an instance of Rotation2d, Trans represents an instance of Translation2d

  • Pose.transformBy(otherPose) - means first translating by otherPose.translation and then rotating by otherPose.rotation

  • Pose.getTranslation() - Returns associated Translation2d

  • Pose.getRotation() - Returns associated Rotation2d

  • Pose.withRotation(Rot) - Returns a pose with the same translation as Pose but with the rotation of Rot

  • Pose.withTranslation(Trans) - Returns a pose with the same rotation as Pose but the the Translation of Trans

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TransformBy is commonly misunderstood, read it carefully

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