Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

35
wpimath/src/main/native/cpp/geometry/Translation2d.cpp
View File

@@ -10,12 +10,6 @@
using namespace frc;
Translation2d::Translation2d(units::meter_t x, units::meter_t y)
: m_x(x), m_y(y) {}
Translation2d::Translation2d(units::meter_t distance, const Rotation2d& angle)
: m_x(distance * angle.Cos()), m_y(distance * angle.Sin()) {}
units::meter_t Translation2d::Distance(const Translation2d& other) const {
return units::math::hypot(other.m_x - m_x, other.m_y - m_y);
}
@@ -24,35 +18,6 @@ units::meter_t Translation2d::Norm() const {
return units::math::hypot(m_x, m_y);
}
Rotation2d Translation2d::Angle() const {
return Rotation2d{m_x.value(), m_y.value()};
}
Translation2d Translation2d::RotateBy(const Rotation2d& other) const {
return {m_x * other.Cos() - m_y * other.Sin(),
m_x * other.Sin() + m_y * other.Cos()};
}
Translation2d Translation2d::operator+(const Translation2d& other) const {
return {X() + other.X(), Y() + other.Y()};
}
Translation2d Translation2d::operator-(const Translation2d& other) const {
return *this + -other;
}
Translation2d Translation2d::operator-() const {
return {-m_x, -m_y};
}
Translation2d Translation2d::operator*(double scalar) const {
return {scalar * m_x, scalar * m_y};
}
Translation2d Translation2d::operator/(double scalar) const {
return *this * (1.0 / scalar);
}
bool Translation2d::operator==(const Translation2d& other) const {
return units::math::abs(m_x - other.m_x) < 1E-9_m &&
units::math::abs(m_y - other.m_y) < 1E-9_m;