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Add C++20 std::math constants shim (#1788)

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Based on http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2019/p0631r7.pdf
This commit is contained in:
Tyler Veness
2019-07-31 22:15:22 -07:00
committed by Peter Johnson
parent dd43109596
commit 37d316aa09
11 changed files with 119 additions and 50 deletions
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5
wpilibc/src/main/native/cpp/Joystick.cpp
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@@ -10,14 +10,13 @@
#include <cmath>
#include <hal/HAL.h>
#include <wpi/math>
#include "frc/DriverStation.h"
#include "frc/WPIErrors.h"
using namespace frc;
constexpr double kPi = 3.14159265358979323846;
Joystick::Joystick(int port) : GenericHID(port) {
m_axes[Axis::kX] = kDefaultXChannel;
m_axes[Axis::kY] = kDefaultYChannel;
@@ -91,5 +90,5 @@ double Joystick::GetDirectionRadians() const {
}
double Joystick::GetDirectionDegrees() const {
return (180 / kPi) * GetDirectionRadians();
return (180 / wpi::math::pi) * GetDirectionRadians();
}

22
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 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. */
@@ -11,14 +11,13 @@
#include <cmath>
#include <hal/HAL.h>
#include <wpi/math>
#include "frc/SpeedController.h"
#include "frc/smartdashboard/SendableBuilder.h"
using namespace frc;
constexpr double kPi = 3.14159265358979323846;
KilloughDrive::KilloughDrive(SpeedController& leftMotor,
SpeedController& rightMotor,
SpeedController& backMotor)
@@ -30,12 +29,12 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
SpeedController& backMotor, double leftMotorAngle,
double rightMotorAngle, double backMotorAngle)
: m_leftMotor(leftMotor), m_rightMotor(rightMotor), m_backMotor(backMotor) {
m_leftVec = {std::cos(leftMotorAngle * (kPi / 180.0)),
std::sin(leftMotorAngle * (kPi / 180.0))};
m_rightVec = {std::cos(rightMotorAngle * (kPi / 180.0)),
std::sin(rightMotorAngle * (kPi / 180.0))};
m_backVec = {std::cos(backMotorAngle * (kPi / 180.0)),
std::sin(backMotorAngle * (kPi / 180.0))};
m_leftVec = {std::cos(leftMotorAngle * (wpi::math::pi / 180.0)),
std::sin(leftMotorAngle * (wpi::math::pi / 180.0))};
m_rightVec = {std::cos(rightMotorAngle * (wpi::math::pi / 180.0)),
std::sin(rightMotorAngle * (wpi::math::pi / 180.0))};
m_backVec = {std::cos(backMotorAngle * (wpi::math::pi / 180.0)),
std::sin(backMotorAngle * (wpi::math::pi / 180.0))};
AddChild(&m_leftMotor);
AddChild(&m_rightMotor);
AddChild(&m_backMotor);
@@ -84,8 +83,9 @@ void KilloughDrive::DrivePolar(double magnitude, double angle,
reported = true;
}
DriveCartesian(magnitude * std::sin(angle * (kPi / 180.0)),
magnitude * std::cos(angle * (kPi / 180.0)), zRotation, 0.0);
DriveCartesian(magnitude * std::sin(angle * (wpi::math::pi / 180.0)),
magnitude * std::cos(angle * (wpi::math::pi / 180.0)),
zRotation, 0.0);
}
void KilloughDrive::StopMotor() {

10
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 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. */
@@ -11,6 +11,7 @@
#include <cmath>
#include <hal/HAL.h>
#include <wpi/math>
#include "frc/SpeedController.h"
#include "frc/drive/Vector2d.h"
@@ -18,8 +19,6 @@
using namespace frc;
constexpr double kPi = 3.14159265358979323846;
MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
SpeedController& rearLeftMotor,
SpeedController& frontRightMotor,
@@ -81,8 +80,9 @@ void MecanumDrive::DrivePolar(double magnitude, double angle,
reported = true;
}
DriveCartesian(magnitude * std::sin(angle * (kPi / 180.0)),
magnitude * std::cos(angle * (kPi / 180.0)), zRotation, 0.0);
DriveCartesian(magnitude * std::sin(angle * (wpi::math::pi / 180.0)),
magnitude * std::cos(angle * (wpi::math::pi / 180.0)),
zRotation, 0.0);
}
bool MecanumDrive::IsRightSideInverted() const {

10
wpilibc/src/main/native/cpp/drive/Vector2d.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 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. */
@@ -9,9 +9,9 @@
#include <cmath>
using namespace frc;
#include <wpi/math>
constexpr double kPi = 3.14159265358979323846;
using namespace frc;
Vector2d::Vector2d(double x, double y) {
this->x = x;
@@ -19,8 +19,8 @@ Vector2d::Vector2d(double x, double y) {
}
void Vector2d::Rotate(double angle) {
double cosA = std::cos(angle * (kPi / 180.0));
double sinA = std::sin(angle * (kPi / 180.0));
double cosA = std::cos(angle * (wpi::math::pi / 180.0));
double sinA = std::sin(angle * (wpi::math::pi / 180.0));
double out[2];
out[0] = x * cosA - y * sinA;
out[1] = x * sinA + y * cosA;