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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2024-12-26 18:55:43 -08:00
parent 78b14c5204 fe49cbe429
commit 2a757eaeb5
143 changed files with 6155 additions and 5268 deletions
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2
wpimath/src/main/native/include/frc/geometry/Pose3d.h
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@@ -404,7 +404,7 @@ constexpr Twist3d Pose3d::Log(const Pose3d& end) const {
Vector3d u{
{transform.X().value(), transform.Y().value(), transform.Z().value()}};
Vector3d rvec = transform.Rotation().GetQuaternion().ToRotationVector();
Vector3d rvec = transform.Rotation().ToVector();
Matrix3d omega = detail::RotationVectorToMatrix(rvec);
Matrix3d omegaSq = omega * omega;
double theta = rvec.norm();

7
wpimath/src/main/native/include/frc/geometry/Rotation3d.h
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@@ -421,6 +421,13 @@ class WPILIB_DLLEXPORT Rotation3d {
1.0 - 2.0 * (x * x + y * y)}};
}
/**
* Returns rotation vector representation of this rotation.
*
* @return Rotation vector representation of this rotation.
*/
constexpr Eigen::Vector3d ToVector() const { return m_q.ToRotationVector(); }
/**
* Returns a Rotation2d representing this Rotation3d projected into the X-Y
* plane.