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[wpimath] Add RotateBy() function to pose classes (#5491)

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Fixes #5472.
This commit is contained in:
Tyler Veness
2023-07-31 21:16:44 -07:00
committed by GitHub
parent 26d6e68c8f
commit 35a8b129d9
10 changed files with 139 additions and 0 deletions
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4
wpimath/src/main/native/include/frc/geometry/Pose2d.inc
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@@ -31,6 +31,10 @@ constexpr Pose2d Pose2d::operator/(double scalar) const {
return *this * (1.0 / scalar);
}
constexpr Pose2d Pose2d::RotateBy(const Rotation2d& other) const {
return {m_translation.RotateBy(other), m_rotation.RotateBy(other)};
}
constexpr Pose2d Pose2d::TransformBy(const Transform2d& other) const {
return {m_translation + (other.Translation().RotateBy(m_rotation)),
other.Rotation() + m_rotation};