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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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30
wpimath/src/main/native/cpp/geometry/Translation3d.cpp
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@@ -4,14 +4,8 @@
#include "frc/geometry/Translation3d.h"
#include "units/math.h"
using namespace frc;
Translation3d::Translation3d(units::meter_t x, units::meter_t y,
units::meter_t z)
: m_x(x), m_y(y), m_z(z) {}
Translation3d::Translation3d(units::meter_t distance, const Rotation3d& angle) {
auto rectangular = Translation3d{distance, 0_m, 0_m}.RotateBy(angle);
m_x = rectangular.X();
@@ -36,30 +30,6 @@ Translation3d Translation3d::RotateBy(const Rotation3d& other) const {
units::meter_t{qprime.Z()}};
}
Translation2d Translation3d::ToTranslation2d() const {
return Translation2d{m_x, m_y};
}
Translation3d Translation3d::operator+(const Translation3d& other) const {
return {X() + other.X(), Y() + other.Y(), Z() + other.Z()};
}
Translation3d Translation3d::operator-(const Translation3d& other) const {
return *this + -other;
}
Translation3d Translation3d::operator-() const {
return {-m_x, -m_y, -m_z};
}
Translation3d Translation3d::operator*(double scalar) const {
return {scalar * m_x, scalar * m_y, scalar * m_z};
}
Translation3d Translation3d::operator/(double scalar) const {
return *this * (1.0 / scalar);
}
bool Translation3d::operator==(const Translation3d& 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 &&