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[wpimath] Add Rotation3d rotation vector getter (#7564)

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The code churn in Java is just making the function order consistent
between languages.
This commit is contained in:
Tyler Veness
2024-12-22 13:34:51 -08:00
committed by GitHub
parent 0c99073b94
commit 02a0adc653
5 changed files with 40 additions and 25 deletions
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7
wpimath/src/main/native/include/frc/geometry/Rotation3d.h
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@@ -421,6 +421,13 @@ class WPILIB_DLLEXPORT Rotation3d {
1.0 - 2.0 * (x * x + y * y)}};
}
/**
* Returns rotation vector representation of this rotation.
*
* @return Rotation vector representation of this rotation.
*/
constexpr Eigen::Vector3d ToVector() const { return m_q.ToRotationVector(); }
/**
* Returns a Rotation2d representing this Rotation3d projected into the X-Y
* plane.