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[wpimath] Add Rotation2d.fromRadians factory (#4178)

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This commit is contained in:
Starlight220
2022-04-30 10:19:29 +03:00
committed by GitHub
parent 4f79ceedd9
commit 18ff694f02
2 changed files with 12 additions and 2 deletions
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10
wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
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@@ -58,6 +58,16 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
m_value = Math.atan2(m_sin, m_cos);
}
/**
* Constructs and returns a Rotation2d with the given radian value.
*
* @param radians The value of the angle in degrees.
* @return The rotation object with the desired angle value.
*/
public static Rotation2d fromRadians(double radians) {
return new Rotation2d(radians);
}
/**
* Constructs and returns a Rotation2d with the given degree value.
*

4
wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java
View File

@@ -15,8 +15,8 @@ class Rotation2dTest {
@Test
void testRadiansToDegrees() {
var rot1 = new Rotation2d(Math.PI / 3);
var rot2 = new Rotation2d(Math.PI / 4);
var rot1 = Rotation2d.fromRadians(Math.PI / 3);
var rot2 = Rotation2d.fromRadians(Math.PI / 4);
assertAll(
() -> assertEquals(rot1.getDegrees(), 60.0, kEpsilon),