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Pose Key

"Pose" is a general term used in robotics which refers to "position" or "current state". The Robotics Explained: Robot Pose page also provides a nice intuitive explanation. Please see the Geometry Classes page for a pragmatic guide on how to use them.

Aerial View​

Robot Perspective

Translation2d: x, y​

An (x, y) point in space.

Rotation2d: θ​

A rotation (or heading) from -180 to 180 degrees. Defaults to 0.

Pose2d: x, y, θ​

A pose is a Rotation2d and a Translation2d pair.

Ex: The current location and heading of the robot on the field.

Twist2d: dx, dy, dtheta​

Describes a velocity and curvature.

dx is the movement in the forward direction. dy is the movement in the left-right direction (strafe left and right). dtheta is the rotational movement in radians.

Watch this khan academy for more information https://www.khanacademy.org/math/multivariable-calculus/multivariable-derivatives/curvature/v/curvature-formula-part-1

Pose2dWithCurvature:​

A Pose2d and Twist2d pair. AKA A robot pose, with a velocity+curvature component.