Transform2D Class Reference

Represents a 2D rigid body transform (SE(2)): translation and rotation. More...

#include <FrameMgr2D.h>

Collaboration diagram for Transform2D:

Public Member Functions
	Transform2D (float x, float y, float heading_deg)
	Transform2D (const Coordinate< DistanceM > &coord, float heading_deg)
float	getHeading (AngleUnit unit) const
	Get heading in specified unit (degrees or radians)
Coordinate< DistanceM >	apply (const Coordinate< DistanceM > &local) const
	Applies this transform to a local coordinate, returning the coordinate in the global frame. The local coordinate is first rotated by the heading, then translated by the position of this transform.
Transform2D	operator* (const Transform2D &other) const
	Compose this transform with another (this * other). Applies this transform, then the other.
Transform2D	inverse () const
	Invert this transform.

Public Attributes
Coordinate< DistanceM >	pos
	Position (x, y) in meters.
float	heading_deg
	Heading in degrees (0 = x axis)

Detailed Description

Represents a 2D rigid body transform (SE(2)): translation and rotation.

Transform2D models a pose in 2D space, consisting of a translation (x, y) in meters and a heading (rotation) in degrees. It supports:

• Applying the transform to local coordinates (rotating and translating them into the global frame)
• Composing transforms (chaining multiple poses)
• Inverting the transform (computing the reverse transformation)

The heading is in degrees, where 0 means facing along the positive x-axis, and positive values rotate counterclockwise (e.g., 90 degrees is along the positive y-axis).

Typical usage:

• Represent the pose of a robot, sensor, or frame in 2D space.
• Transform points between local and global frames.
• Chain multiple transforms for hierarchical coordinate systems.

Example:

Transform2D base_to_world(1.0, 2.0, 45); // 1m x, 2m y, 45 deg rotation
Coordinate local_point(0.5, 0.0); // 0.5m ahead in base frame
Coordinate global_point = base_to_world.apply(local_point);
Transform2D world_to_base = base_to_world.inverse();

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The documentation for this class was generated from the following file:

• src/TinyRobotics/coordinates/FrameMgr2D.h