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[wpimath] Add scalar multiply and divide operators to all geometry classes (#4438)

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Closes #4435.
This commit is contained in:
Tyler Veness
2022-09-28 21:34:29 -07:00
committed by GitHub
parent 3937ff8221
commit 38bb23eb18
16 changed files with 180 additions and 4 deletions
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8
wpimath/src/main/native/cpp/geometry/Pose3d.cpp
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@@ -54,6 +54,14 @@ bool Pose3d::operator!=(const Pose3d& other) const {
return !operator==(other);
}
Pose3d Pose3d::operator*(double scalar) const {
return Pose3d{m_translation * scalar, m_rotation * scalar};
}
Pose3d Pose3d::operator/(double scalar) const {
return *this * (1.0 / scalar);
}
Pose3d Pose3d::TransformBy(const Transform3d& other) const {
return {m_translation + (other.Translation().RotateBy(m_rotation)),
m_rotation + other.Rotation()};