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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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24
wpimath/src/main/native/include/frc/geometry/Translation2d.h
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@@ -37,7 +37,7 @@ class WPILIB_DLLEXPORT Translation2d {
* @param x The x component of the translation.
* @param y The y component of the translation.
*/
Translation2d(units::meter_t x, units::meter_t y);
constexpr Translation2d(units::meter_t x, units::meter_t y);
/**
* Constructs a Translation2d with the provided distance and angle. This is
@@ -46,7 +46,7 @@ class WPILIB_DLLEXPORT Translation2d {
* @param distance The distance from the origin to the end of the translation.
* @param angle The angle between the x-axis and the translation vector.
*/
Translation2d(units::meter_t distance, const Rotation2d& angle);
constexpr Translation2d(units::meter_t distance, const Rotation2d& angle);
/**
* Calculates the distance between two translations in 2D space.
@@ -64,14 +64,14 @@ class WPILIB_DLLEXPORT Translation2d {
*
* @return The X component of the translation.
*/
units::meter_t X() const { return m_x; }
constexpr units::meter_t X() const { return m_x; }
/**
* Returns the Y component of the translation.
*
* @return The Y component of the translation.
*/
units::meter_t Y() const { return m_y; }
constexpr units::meter_t Y() const { return m_y; }
/**
* Returns the norm, or distance from the origin to the translation.
@@ -85,7 +85,7 @@ class WPILIB_DLLEXPORT Translation2d {
*
* @return The angle of the translation
*/
Rotation2d Angle() const;
constexpr Rotation2d Angle() const;
/**
* Applies a rotation to the translation in 2D space.
@@ -105,7 +105,7 @@ class WPILIB_DLLEXPORT Translation2d {
*
* @return The new rotated translation.
*/
Translation2d RotateBy(const Rotation2d& other) const;
constexpr Translation2d RotateBy(const Rotation2d& other) const;
/**
* Returns the sum of two translations in 2D space.
@@ -117,7 +117,7 @@ class WPILIB_DLLEXPORT Translation2d {
*
* @return The sum of the translations.
*/
Translation2d operator+(const Translation2d& other) const;
constexpr Translation2d operator+(const Translation2d& other) const;
/**
* Returns the difference between two translations.
@@ -129,7 +129,7 @@ class WPILIB_DLLEXPORT Translation2d {
*
* @return The difference between the two translations.
*/
Translation2d operator-(const Translation2d& other) const;
constexpr Translation2d operator-(const Translation2d& other) const;
/**
* Returns the inverse of the current translation. This is equivalent to
@@ -138,7 +138,7 @@ class WPILIB_DLLEXPORT Translation2d {
*
* @return The inverse of the current translation.
*/
Translation2d operator-() const;
constexpr Translation2d operator-() const;
/**
* Returns the translation multiplied by a scalar.
@@ -149,7 +149,7 @@ class WPILIB_DLLEXPORT Translation2d {
*
* @return The scaled translation.
*/
Translation2d operator*(double scalar) const;
constexpr Translation2d operator*(double scalar) const;
/**
* Returns the translation divided by a scalar.
@@ -160,7 +160,7 @@ class WPILIB_DLLEXPORT Translation2d {
*
* @return The scaled translation.
*/
Translation2d operator/(double scalar) const;
constexpr Translation2d operator/(double scalar) const;
/**
* Checks equality between this Translation2d and another object.
@@ -190,3 +190,5 @@ WPILIB_DLLEXPORT
void from_json(const wpi::json& json, Translation2d& state);
} // namespace frc
#include "Translation2d.inc"