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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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20
wpimath/src/main/native/include/frc/geometry/Transform2d.h
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@@ -31,7 +31,7 @@ class WPILIB_DLLEXPORT Transform2d {
* @param translation Translational component of the transform.
* @param rotation Rotational component of the transform.
*/
Transform2d(Translation2d translation, Rotation2d rotation);
constexpr Transform2d(Translation2d translation, Rotation2d rotation);
/**
* Constructs the identity transform -- maps an initial pose to itself.
@@ -43,35 +43,35 @@ class WPILIB_DLLEXPORT Transform2d {
*
* @return Reference to the translational component of the transform.
*/
const Translation2d& Translation() const { return m_translation; }
constexpr const Translation2d& Translation() const { return m_translation; }
/**
* Returns the X component of the transformation's translation.
*
* @return The x component of the transformation'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 transformation's translation.
*
* @return The y component of the transformation's translation.
*/
units::meter_t Y() const { return m_translation.Y(); }
constexpr units::meter_t Y() const { return m_translation.Y(); }
/**
* Returns the rotational component of the transformation.
*
* @return Reference to the rotational component of the transform.
*/
const Rotation2d& Rotation() const { return m_rotation; }
constexpr const Rotation2d& Rotation() const { return m_rotation; }
/**
* Invert the transformation. This is useful for undoing a transformation.
*
* @return The inverted transformation.
*/
Transform2d Inverse() const;
constexpr Transform2d Inverse() const;
/**
* Multiplies the transform by the scalar.
@@ -79,7 +79,7 @@ class WPILIB_DLLEXPORT Transform2d {
* @param scalar The scalar.
* @return The scaled Transform2d.
*/
Transform2d operator*(double scalar) const {
constexpr Transform2d operator*(double scalar) const {
return Transform2d(m_translation * scalar, m_rotation * scalar);
}
@@ -89,7 +89,9 @@ class WPILIB_DLLEXPORT Transform2d {
* @param scalar The scalar.
* @return The scaled Transform2d.
*/
Transform2d operator/(double scalar) const { return *this * (1.0 / scalar); }
constexpr Transform2d operator/(double scalar) const {
return *this * (1.0 / scalar);
}
/**
* Composes two transformations.
@@ -120,3 +122,5 @@ class WPILIB_DLLEXPORT Transform2d {
Rotation2d m_rotation;
};
} // namespace frc
#include "Transform2d.inc"