Merge branch '2022'

wpimath/src/main/native/cpp/geometry/Pose2d.cpp

@@ -20,12 +20,6 @@ Pose2d Pose2d::operator+(const Transform2d& other) const {
   return TransformBy(other);
 }
 
-Pose2d& Pose2d::operator+=(const Transform2d& other) {
-  m_translation += other.Translation().RotateBy(m_rotation);
-  m_rotation += other.Rotation();
-  return *this;
-}
-
 Transform2d Pose2d::operator-(const Pose2d& other) const {
   const auto pose = this->RelativeTo(other);
   return Transform2d(pose.Translation(), pose.Rotation());

wpimath/src/main/native/cpp/geometry/Rotation2d.cpp

@@ -38,24 +38,10 @@ Rotation2d Rotation2d::operator+(const Rotation2d& other) const {
   return RotateBy(other);
 }
 
-Rotation2d& Rotation2d::operator+=(const Rotation2d& other) {
-  double cos = Cos() * other.Cos() - Sin() * other.Sin();
-  double sin = Cos() * other.Sin() + Sin() * other.Cos();
-  m_cos = cos;
-  m_sin = sin;
-  m_value = units::radian_t(std::atan2(m_sin, m_cos));
-  return *this;
-}
-
 Rotation2d Rotation2d::operator-(const Rotation2d& other) const {
   return *this + -other;
 }
 
-Rotation2d& Rotation2d::operator-=(const Rotation2d& other) {
-  *this += -other;
-  return *this;
-}
-
 Rotation2d Rotation2d::operator-() const {
   return Rotation2d(-m_value);
 }

wpimath/src/main/native/cpp/geometry/Translation2d.cpp

@@ -33,21 +33,10 @@ Translation2d Translation2d::operator+(const Translation2d& other) const {
   return {X() + other.X(), Y() + other.Y()};
 }
 
-Translation2d& Translation2d::operator+=(const Translation2d& other) {
-  m_x += other.m_x;
-  m_y += other.m_y;
-  return *this;
-}
-
 Translation2d Translation2d::operator-(const Translation2d& other) const {
   return *this + -other;
 }
 
-Translation2d& Translation2d::operator-=(const Translation2d& other) {
-  *this += -other;
-  return *this;
-}
-
 Translation2d Translation2d::operator-() const {
   return {-m_x, -m_y};
 }
@@ -56,12 +45,6 @@ Translation2d Translation2d::operator*(double scalar) const {
   return {scalar * m_x, scalar * m_y};
 }
 
-Translation2d& Translation2d::operator*=(double scalar) {
-  m_x *= scalar;
-  m_y *= scalar;
-  return *this;
-}
-
 Translation2d Translation2d::operator/(double scalar) const {
   return *this * (1.0 / scalar);
 }
@@ -75,11 +58,6 @@ bool Translation2d::operator!=(const Translation2d& other) const {
   return !operator==(other);
 }
 
-Translation2d& Translation2d::operator/=(double scalar) {
-  *this *= (1.0 / scalar);
-  return *this;
-}
-
 void frc::to_json(wpi::json& json, const Translation2d& translation) {
   json = wpi::json{{"x", translation.X().to<double>()},
                    {"y", translation.Y().to<double>()}};

wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp

@@ -115,7 +115,7 @@ Trajectory TrajectoryGenerator::GenerateTrajectory(
   const Transform2d flip{Translation2d(), Rotation2d(180_deg)};
   if (config.IsReversed()) {
     for (auto& waypoint : newWaypoints) {
-      waypoint += flip;
+      waypoint = waypoint + flip;
     }
   }