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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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22
wpimath/src/main/native/include/frc/geometry/Pose2d.h
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@@ -32,7 +32,7 @@ class WPILIB_DLLEXPORT Pose2d {
* @param translation The translational component of the pose.
* @param rotation The rotational component of the pose.
*/
Pose2d(Translation2d translation, Rotation2d rotation);
constexpr Pose2d(Translation2d translation, Rotation2d rotation);
/**
* Constructs a pose with x and y translations instead of a separate
@@ -42,7 +42,7 @@ class WPILIB_DLLEXPORT Pose2d {
* @param y The y component of the translational component of the pose.
* @param rotation The rotational component of the pose.
*/
Pose2d(units::meter_t x, units::meter_t y, Rotation2d rotation);
constexpr Pose2d(units::meter_t x, units::meter_t y, Rotation2d rotation);
/**
* Transforms the pose by the given transformation and returns the new
@@ -58,7 +58,7 @@ class WPILIB_DLLEXPORT Pose2d {
*
* @return The transformed pose.
*/
Pose2d operator+(const Transform2d& other) const;
constexpr Pose2d operator+(const Transform2d& other) const;
/**
* Returns the Transform2d that maps the one pose to another.
@@ -89,28 +89,28 @@ class WPILIB_DLLEXPORT Pose2d {
*
* @return Reference to the translational component of the pose.
*/
const Translation2d& Translation() const { return m_translation; }
constexpr const Translation2d& Translation() const { return m_translation; }
/**
* Returns the X component of the pose's translation.
*
* @return The x component of the pose's translation.
*/
units::meter_t X() const { return m_translation.X(); }
constexpr units::meter_t X() const { return m_translation.X(); }
/**
* Returns the Y component of the pose's translation.
*
* @return The y component of the pose's translation.
*/
units::meter_t Y() const { return m_translation.Y(); }
constexpr units::meter_t Y() const { return m_translation.Y(); }
/**
* Returns the underlying rotation.
*
* @return Reference to the rotational component of the pose.
*/
const Rotation2d& Rotation() const { return m_rotation; }
constexpr const Rotation2d& Rotation() const { return m_rotation; }
/**
* Multiplies the current pose by a scalar.
@@ -119,7 +119,7 @@ class WPILIB_DLLEXPORT Pose2d {
*
* @return The new scaled Pose2d.
*/
Pose2d operator*(double scalar) const;
constexpr Pose2d operator*(double scalar) const;
/**
* Divides the current pose by a scalar.
@@ -128,7 +128,7 @@ class WPILIB_DLLEXPORT Pose2d {
*
* @return The new scaled Pose2d.
*/
Pose2d operator/(double scalar) const;
constexpr Pose2d operator/(double scalar) const;
/**
* Transforms the pose by the given transformation and returns the new pose.
@@ -138,7 +138,7 @@ class WPILIB_DLLEXPORT Pose2d {
*
* @return The transformed pose.
*/
Pose2d TransformBy(const Transform2d& other) const;
constexpr Pose2d TransformBy(const Transform2d& other) const;
/**
* Returns the other pose relative to the current pose.
@@ -199,3 +199,5 @@ WPILIB_DLLEXPORT
void from_json(const wpi::json& json, Pose2d& pose);
} // namespace frc
#include "Pose2d.inc"