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[wpimath] Increase constexpr support in geometry data types (#4231)

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This uses std::is_constant_evaluated() to conditionally use the gcem library for constexpr calculations.
This commit is contained in:
David K Turner
2022-10-31 11:17:00 -05:00
committed by GitHub
parent 1c3c86e9f1
commit 3a5a376465
94 changed files with 6919 additions and 212 deletions
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23
wpimath/src/main/native/cpp/geometry/Pose2d.cpp
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@@ -10,16 +10,6 @@
using namespace frc;
Pose2d::Pose2d(Translation2d translation, Rotation2d rotation)
: m_translation(std::move(translation)), m_rotation(std::move(rotation)) {}
Pose2d::Pose2d(units::meter_t x, units::meter_t y, Rotation2d rotation)
: m_translation(x, y), m_rotation(std::move(rotation)) {}
Pose2d Pose2d::operator+(const Transform2d& other) const {
return TransformBy(other);
}
Transform2d Pose2d::operator-(const Pose2d& other) const {
const auto pose = this->RelativeTo(other);
return Transform2d{pose.Translation(), pose.Rotation()};
@@ -33,19 +23,6 @@ bool Pose2d::operator!=(const Pose2d& other) const {
return !operator==(other);
}
Pose2d Pose2d::operator*(double scalar) const {
return Pose2d{m_translation * scalar, m_rotation * scalar};
}
Pose2d Pose2d::operator/(double scalar) const {
return *this * (1.0 / scalar);
}
Pose2d Pose2d::TransformBy(const Transform2d& other) const {
return {m_translation + (other.Translation().RotateBy(m_rotation)),
m_rotation + other.Rotation()};
}
Pose2d Pose2d::RelativeTo(const Pose2d& other) const {
const Transform2d transform{other, *this};
return {transform.Translation(), transform.Rotation()};