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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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16
wpilibc/src/main/native/include/frc/geometry/Pose2d.h
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@@ -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
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@@ -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
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@@ -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}};
}
/**