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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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18
wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp
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@@ -40,3 +40,21 @@ TEST(Transform2dTest, Composition) {
EXPECT_DOUBLE_EQ(transformedSeparate.Rotation().Degrees().value(),
transformedCombined.Rotation().Degrees().value());
}
TEST(Transform2dTest, Constexpr) {
constexpr Transform2d defaultCtor;
constexpr Transform2d translationRotationCtor{Translation2d{},
Rotation2d{10_deg}};
constexpr auto multiplied = translationRotationCtor * 5;
constexpr auto divided = translationRotationCtor / 2;
static_assert(defaultCtor.Translation().X() == 0_m);
static_assert(translationRotationCtor.X() == 0_m);
static_assert(translationRotationCtor.Y() == 0_m);
static_assert(multiplied.Rotation().Degrees() == 50_deg);
static_assert(translationRotationCtor.Inverse().Rotation().Degrees() ==
(-10_deg));
static_assert(translationRotationCtor.Inverse().X() == 0_m);
static_assert(translationRotationCtor.Inverse().Y() == 0_m);
static_assert(divided.Rotation().Degrees() == 5_deg);
}