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[wpimath] Remove Rotation2d value field (#7490)

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It's not part of SO(2).
This commit is contained in:
Tyler Veness
2024-12-06 21:00:09 -08:00
committed by GitHub
parent 38b09a6dfd
commit 144e79a614
6 changed files with 29 additions and 48 deletions
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30
wpimath/src/main/native/include/frc/geometry/Rotation2d.h
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@@ -19,11 +19,6 @@ namespace frc {
/**
* A rotation in a 2D coordinate frame represented by a point on the unit circle
* (cosine and sine).
*
* The angle is continuous, that is if a Rotation2d is constructed with 361
* degrees, it will return 361 degrees. This allows algorithms that wouldn't
* want to see a discontinuity in the rotations as it sweeps past from 360 to 0
* on the second time around.
*/
class WPILIB_DLLEXPORT Rotation2d {
public:
@@ -38,8 +33,7 @@ class WPILIB_DLLEXPORT Rotation2d {
* @param value The value of the angle.
*/
constexpr Rotation2d(units::angle_unit auto value) // NOLINT
: m_value{value},
m_cos{gcem::cos(value.template convert<units::radian>().value())},
: m_cos{gcem::cos(value.template convert<units::radian>().value())},
m_sin{gcem::sin(value.template convert<units::radian>().value())} {}
/**
@@ -63,7 +57,6 @@ class WPILIB_DLLEXPORT Rotation2d {
wpi::GetStackTrace(1));
}
}
m_value = units::radian_t{gcem::atan2(m_sin, m_cos)};
}
/**
@@ -102,7 +95,7 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @return The inverse of the current rotation.
*/
constexpr Rotation2d operator-() const { return Rotation2d{-m_value}; }
constexpr Rotation2d operator-() const { return Rotation2d{m_cos, -m_sin}; }
/**
* Multiplies the current rotation by a scalar.
@@ -112,7 +105,7 @@ class WPILIB_DLLEXPORT Rotation2d {
* @return The new scaled Rotation2d.
*/
constexpr Rotation2d operator*(double scalar) const {
return Rotation2d{m_value * scalar};
return Rotation2d{Radians() * scalar};
}
/**
@@ -155,20 +148,20 @@ class WPILIB_DLLEXPORT Rotation2d {
}
/**
* Returns the radian value of the rotation.
* Returns the radian value of the rotation constrained within [-π, π].
*
* @return The radian value of the rotation.
* @see AngleModulus to constrain the angle within (-π, π]
* @return The radian value of the rotation constrained within [-π, π].
*/
constexpr units::radian_t Radians() const { return m_value; }
constexpr units::radian_t Radians() const {
return units::radian_t{gcem::atan2(m_sin, m_cos)};
}
/**
* Returns the degree value of the rotation.
* Returns the degree value of the rotation constrained within [-180, 180].
*
* @return The degree value of the rotation.
* @see InputModulus to constrain the angle within (-180, 180]
* @return The degree value of the rotation constrained within [-180, 180].
*/
constexpr units::degree_t Degrees() const { return m_value; }
constexpr units::degree_t Degrees() const { return Radians(); }
/**
* Returns the cosine of the rotation.
@@ -192,7 +185,6 @@ class WPILIB_DLLEXPORT Rotation2d {
constexpr double Tan() const { return Sin() / Cos(); }
private:
units::radian_t m_value = 0_rad;
double m_cos = 1;
double m_sin = 0;
};