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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/Translation3d.h
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@@ -35,7 +35,7 @@ class WPILIB_DLLEXPORT Translation3d {
* @param y The y component of the translation.
* @param z The z component of the translation.
*/
Translation3d(units::meter_t x, units::meter_t y, units::meter_t z);
constexpr Translation3d(units::meter_t x, units::meter_t y, units::meter_t z);
/**
* Constructs a Translation3d with the provided distance and angle. This is
@@ -63,21 +63,21 @@ class WPILIB_DLLEXPORT Translation3d {
*
* @return The Z 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 Z component of the translation.
*
* @return The Z component of the translation.
*/
units::meter_t Z() const { return m_z; }
constexpr units::meter_t Z() const { return m_z; }
/**
* Returns the norm, or distance from the origin to the translation.
@@ -102,7 +102,7 @@ class WPILIB_DLLEXPORT Translation3d {
* Returns a Translation2d representing this Translation3d projected into the
* X-Y plane.
*/
Translation2d ToTranslation2d() const;
constexpr Translation2d ToTranslation2d() const;
/**
* Returns the sum of two translations in 3D space.
@@ -114,7 +114,7 @@ class WPILIB_DLLEXPORT Translation3d {
*
* @return The sum of the translations.
*/
Translation3d operator+(const Translation3d& other) const;
constexpr Translation3d operator+(const Translation3d& other) const;
/**
* Returns the difference between two translations.
@@ -126,7 +126,7 @@ class WPILIB_DLLEXPORT Translation3d {
*
* @return The difference between the two translations.
*/
Translation3d operator-(const Translation3d& other) const;
constexpr Translation3d operator-(const Translation3d& other) const;
/**
* Returns the inverse of the current translation. This is equivalent to
@@ -134,7 +134,7 @@ class WPILIB_DLLEXPORT Translation3d {
*
* @return The inverse of the current translation.
*/
Translation3d operator-() const;
constexpr Translation3d operator-() const;
/**
* Returns the translation multiplied by a scalar.
@@ -146,7 +146,7 @@ class WPILIB_DLLEXPORT Translation3d {
*
* @return The scaled translation.
*/
Translation3d operator*(double scalar) const;
constexpr Translation3d operator*(double scalar) const;
/**
* Returns the translation divided by a scalar.
@@ -158,7 +158,7 @@ class WPILIB_DLLEXPORT Translation3d {
*
* @return The scaled translation.
*/
Translation3d operator/(double scalar) const;
constexpr Translation3d operator/(double scalar) const;
/**
* Checks equality between this Translation3d and another object.
@@ -183,3 +183,5 @@ class WPILIB_DLLEXPORT Translation3d {
};
} // namespace frc
#include "Translation3d.inc"