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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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34
wpimath/src/main/native/include/frc/geometry/Rotation2d.h
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@@ -30,14 +30,14 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @param value The value of the angle in radians.
*/
Rotation2d(units::radian_t value); // NOLINT
constexpr Rotation2d(units::radian_t value); // NOLINT
/**
* Constructs a Rotation2d with the given degree value.
*
* @param value The value of the angle in degrees.
*/
Rotation2d(units::degree_t value); // NOLINT
constexpr Rotation2d(units::degree_t value); // NOLINT
/**
* Constructs a Rotation2d with the given x and y (cosine and sine)
@@ -46,7 +46,7 @@ class WPILIB_DLLEXPORT Rotation2d {
* @param x The x component or cosine of the rotation.
* @param y The y component or sine of the rotation.
*/
Rotation2d(double x, double y);
constexpr Rotation2d(double x, double y);
/**
* Adds two rotations together, with the result being bounded between -pi and
@@ -59,7 +59,7 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @return The sum of the two rotations.
*/
Rotation2d operator+(const Rotation2d& other) const;
constexpr Rotation2d operator+(const Rotation2d& other) const;
/**
* Subtracts the new rotation from the current rotation and returns the new
@@ -72,7 +72,7 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @return The difference between the two rotations.
*/
Rotation2d operator-(const Rotation2d& other) const;
constexpr Rotation2d operator-(const Rotation2d& other) const;
/**
* Takes the inverse of the current rotation. This is simply the negative of
@@ -80,7 +80,7 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @return The inverse of the current rotation.
*/
Rotation2d operator-() const;
constexpr Rotation2d operator-() const;
/**
* Multiplies the current rotation by a scalar.
@@ -89,7 +89,7 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @return The new scaled Rotation2d.
*/
Rotation2d operator*(double scalar) const;
constexpr Rotation2d operator*(double scalar) const;
/**
* Divides the current rotation by a scalar.
@@ -98,7 +98,7 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @return The new scaled Rotation2d.
*/
Rotation2d operator/(double scalar) const;
constexpr Rotation2d operator/(double scalar) const;
/**
* Checks equality between this Rotation2d and another object.
@@ -106,7 +106,7 @@ class WPILIB_DLLEXPORT Rotation2d {
* @param other The other object.
* @return Whether the two objects are equal.
*/
bool operator==(const Rotation2d& other) const;
constexpr bool operator==(const Rotation2d& other) const;
/**
* Checks inequality between this Rotation2d and another object.
@@ -114,7 +114,7 @@ class WPILIB_DLLEXPORT Rotation2d {
* @param other The other object.
* @return Whether the two objects are not equal.
*/
bool operator!=(const Rotation2d& other) const;
constexpr bool operator!=(const Rotation2d& other) const;
/**
* Adds the new rotation to the current rotation using a rotation matrix.
@@ -129,42 +129,42 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @return The new rotated Rotation2d.
*/
Rotation2d RotateBy(const Rotation2d& other) const;
constexpr Rotation2d RotateBy(const Rotation2d& other) const;
/**
* Returns the radian value of the rotation.
*
* @return The radian value of the rotation.
*/
units::radian_t Radians() const { return m_value; }
constexpr units::radian_t Radians() const { return m_value; }
/**
* Returns the degree value of the rotation.
*
* @return The degree value of the rotation.
*/
units::degree_t Degrees() const { return m_value; }
constexpr units::degree_t Degrees() const { return m_value; }
/**
* Returns the cosine of the rotation.
*
* @return The cosine of the rotation.
*/
double Cos() const { return m_cos; }
constexpr double Cos() const { return m_cos; }
/**
* Returns the sine of the rotation.
*
* @return The sine of the rotation.
*/
double Sin() const { return m_sin; }
constexpr double Sin() const { return m_sin; }
/**
* Returns the tangent of the rotation.
*
* @return The tangent of the rotation.
*/
double Tan() const { return m_sin / m_cos; }
constexpr double Tan() const { return Sin() / Cos(); }
private:
units::radian_t m_value = 0_rad;
@@ -179,3 +179,5 @@ WPILIB_DLLEXPORT
void from_json(const wpi::json& json, Rotation2d& rotation);
} // namespace frc
#include "Rotation2d.inc"