Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-05 03:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Add X and Y component getters to Pose2d and Transform2d (#2563)

Browse Source 
pose.Translation().X() and pose.Translation.Y() are common operations,
so shortening them to pose.X() and pose.Y() would be convenient.

Java uses the getX() convention so that is used instead of X() for Java.
This commit is contained in:
Tyler Veness
2020-07-02 18:09:36 -07:00
committed by GitHub
parent 5ccc98bc14
commit 2a0f79b90f
39 changed files with 228 additions and 192 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpilibc/src/main/native/cpp/controller/RamseteController.cpp
View File

@@ -54,8 +54,8 @@ ChassisSpeeds RamseteController::Calculate(
m_poseError = poseRef.RelativeTo(currentPose);
// Aliases for equation readability
double eX = m_poseError.Translation().X().to<double>();
double eY = m_poseError.Translation().Y().to<double>();
double eX = m_poseError.X().to<double>();
double eY = m_poseError.Y().to<double>();
double eTheta = m_poseError.Rotation().Radians().to<double>();
double vRef = linearVelocityRef.to<double>();
double omegaRef = angularVelocityRef.to<double>();

4
wpilibc/src/main/native/cpp/trajectory/constraint/EllipticalRegionConstraint.cpp
View File

@@ -48,9 +48,9 @@ bool EllipticalRegionConstraint::IsPoseInRegion(const Pose2d& pose) const {
// If the inequality is satisfied, then it is inside the ellipse; otherwise
// it is outside the ellipse.
// Both sides have been multiplied by Rx^2 * Ry^2 for efficiency reasons.
return units::math::pow<2>(pose.Translation().X() - m_center.X()) *
return units::math::pow<2>(pose.X() - m_center.X()) *
units::math::pow<2>(m_radii.Y()) +
units::math::pow<2>(pose.Translation().Y() - m_center.Y()) *
units::math::pow<2>(pose.Y() - m_center.Y()) *
units::math::pow<2>(m_radii.X()) <=
units::math::pow<2>(m_radii.X()) * units::math::pow<2>(m_radii.Y());
}

6
wpilibc/src/main/native/cpp/trajectory/constraint/RectangularRegionConstraint.cpp
View File

@@ -39,8 +39,6 @@ TrajectoryConstraint::MinMax RectangularRegionConstraint::MinMaxAcceleration(
}
bool RectangularRegionConstraint::IsPoseInRegion(const Pose2d& pose) const {
return pose.Translation().X() >= m_bottomLeftPoint.X() &&
pose.Translation().X() <= m_topRightPoint.X() &&
pose.Translation().Y() >= m_bottomLeftPoint.Y() &&
pose.Translation().Y() <= m_topRightPoint.Y();
return pose.X() >= m_bottomLeftPoint.X() && pose.X() <= m_topRightPoint.X() &&
pose.Y() >= m_bottomLeftPoint.Y() && pose.Y() <= m_topRightPoint.Y();
}

16
wpilibc/src/main/native/include/frc/geometry/Pose2d.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -103,6 +103,20 @@ class Pose2d {
*/
const Translation2d& Translation() const { return m_translation; }
/**
* Returns the X component of the pose's translation.
*
* @return The x component of the pose's translation.
*/
units::meter_t X() const { return m_translation.X(); }
/**
* Returns the Y component of the pose's translation.
*
* @return The y component of the pose's translation.
*/
units::meter_t Y() const { return m_translation.Y(); }
/**
* Returns the underlying rotation.
*

14
wpilibc/src/main/native/include/frc/geometry/Transform2d.h
View File

@@ -46,6 +46,20 @@ class Transform2d {
*/
const Translation2d& Translation() const { return m_translation; }
/**
* Returns the X component of the transformation's translation.
*
* @return The x component of the transformation's translation.
*/
units::meter_t X() const { return m_translation.X(); }
/**
* Returns the Y component of the transformation's translation.
*
* @return The y component of the transformation's translation.
*/
units::meter_t Y() const { return m_translation.Y(); }
/**
* Returns the rotational component of the transformation.
*

14
wpilibc/src/main/native/include/frc/spline/SplineHelper.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -81,18 +81,14 @@ class SplineHelper {
private:
static Spline<3>::ControlVector CubicControlVector(double scalar,
const Pose2d& point) {
return {
{point.Translation().X().to<double>(), scalar * point.Rotation().Cos()},
{point.Translation().Y().to<double>(),
scalar * point.Rotation().Sin()}};
return {{point.X().to<double>(), scalar * point.Rotation().Cos()},
{point.Y().to<double>(), scalar * point.Rotation().Sin()}};
}
static Spline<5>::ControlVector QuinticControlVector(double scalar,
const Pose2d& point) {
return {{point.Translation().X().to<double>(),
scalar * point.Rotation().Cos(), 0.0},
{point.Translation().Y().to<double>(),
scalar * point.Rotation().Sin(), 0.0}};
return {{point.X().to<double>(), scalar * point.Rotation().Cos(), 0.0},
{point.Y().to<double>(), scalar * point.Rotation().Sin(), 0.0}};
}
/**