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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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14
wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp
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@@ -115,3 +115,17 @@ TEST(Twist3dTest, Pose3dLogZ) {
const auto reapplied = start.Exp(twist);
EXPECT_EQ(end, reapplied);
}
TEST(Twist3dTest, Constexpr) {
constexpr Twist3d defaultCtor;
constexpr Twist3d componentCtor{1_m, 2_m, 3_m, 4_rad, 5_rad, 6_rad};
constexpr auto multiplied = componentCtor * 2;
static_assert(defaultCtor.dx == 0_m);
static_assert(componentCtor.dy == 2_m);
static_assert(componentCtor.dz == 3_m);
static_assert(multiplied.dx == 2_m);
static_assert(multiplied.rx == 8_rad);
static_assert(multiplied.ry == 10_rad);
static_assert(multiplied.rz == 12_rad);
}