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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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17
wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
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@@ -4,6 +4,8 @@
#pragma once
#include <type_traits>
#include <wpi/SymbolExports.h>
#include "frc/geometry/Twist2d.h"
@@ -36,10 +38,12 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
* empirical value may be larger than the physical measured value due to
* scrubbing effects.
*/
explicit DifferentialDriveKinematics(units::meter_t trackWidth)
constexpr explicit DifferentialDriveKinematics(units::meter_t trackWidth)
: trackWidth(trackWidth) {
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kKinematics_DifferentialDrive, 1);
if (!std::is_constant_evaluated()) {
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kKinematics_DifferentialDrive, 1);
}
}
/**
@@ -83,12 +87,13 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
(rightDistance - leftDistance) / trackWidth * 1_rad};
}
Twist2d ToTwist2d(const DifferentialDriveWheelPositions& start,
const DifferentialDriveWheelPositions& end) const override {
constexpr Twist2d ToTwist2d(
const DifferentialDriveWheelPositions& start,
const DifferentialDriveWheelPositions& end) const override {
return ToTwist2d(end.left - start.left, end.right - start.right);
}
DifferentialDriveWheelPositions Interpolate(
constexpr DifferentialDriveWheelPositions Interpolate(
const DifferentialDriveWheelPositions& start,
const DifferentialDriveWheelPositions& end, double t) const override {
return start.Interpolate(end, t);