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[wpimath] Make various classes constexpr (#7237)

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This commit is contained in:
Tyler Veness
2024-10-22 06:58:06 -07:00
committed by GitHub
parent 0c824bd447
commit 05c7fd929b
21 changed files with 235 additions and 307 deletions
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10
wpimath/src/main/native/include/frc/ComputerVisionUtil.h
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@@ -30,8 +30,12 @@ namespace frc {
* @return The robot's field-relative pose.
*/
WPILIB_DLLEXPORT
frc::Pose3d ObjectToRobotPose(const frc::Pose3d& objectInField,
const frc::Transform3d& cameraToObject,
const frc::Transform3d& robotToCamera);
constexpr frc::Pose3d ObjectToRobotPose(const frc::Pose3d& objectInField,
const frc::Transform3d& cameraToObject,
const frc::Transform3d& robotToCamera) {
const auto objectToCamera = cameraToObject.Inverse();
const auto cameraToRobot = robotToCamera.Inverse();
return objectInField + objectToCamera + cameraToRobot;
}
} // namespace frc