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

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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
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4
wpilibc/src/main/native/cpp/controller/RamseteController.cpp
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@@ -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
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@@ -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
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@@ -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();
}