Implement Pose2d and Pose3d rotateAround() #7659
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calcmogul
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Jan 8, 2025
| /** | ||
| * Rotates the current pose around a translation in 2D space. | ||
| * | ||
| * <p>TODO: I feel like pivot is a bad name? |
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You could just use the naming of Translation2d.rotateAround().
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Translation2d.rotateAround() has parameter names Translation2d other, Rotation2d rot and I did use rot for the amount to rotate by but The other translation to rotate around. doesn't quite work for this instance.
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IDK how to better explain this, but other would sorta imply that it's the same type as the class, which is the case for Translation2d.rotateAround(Translation2d other, Rotation2d rot) but isn't the case for Pose2d.rotateAround(Translation2d other, Rotation2d rot). But thinking about it a bit more, maybe it's not that bad.
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Closes #7657
Blocked by #7658
TODO:
Translation3d.rotateAround()to be implemented