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[wpimath] Memoize CoordinateSystem and CoordinateAxis statics (#4241)

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This commit is contained in:
Tyler Veness
2022-05-18 10:47:46 -07:00
committed by GitHub
parent 5983434a70
commit 5876b40f08
6 changed files with 62 additions and 39 deletions
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30
wpimath/src/main/native/cpp/geometry/CoordinateAxis.cpp
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@@ -10,26 +10,32 @@ CoordinateAxis::CoordinateAxis(double x, double y, double z) : m_axis{x, y, z} {
m_axis /= m_axis.norm();
}
CoordinateAxis CoordinateAxis::N() {
return CoordinateAxis{1.0, 0.0, 0.0};
const CoordinateAxis& CoordinateAxis::N() {
static const CoordinateAxis instance{1.0, 0.0, 0.0};
return instance;
}
CoordinateAxis CoordinateAxis::S() {
return CoordinateAxis{-1.0, 0.0, 0.0};
const CoordinateAxis& CoordinateAxis::S() {
static const CoordinateAxis instance{-1.0, 0.0, 0.0};
return instance;
}
CoordinateAxis CoordinateAxis::E() {
return CoordinateAxis{0.0, -1.0, 0.0};
const CoordinateAxis& CoordinateAxis::E() {
static const CoordinateAxis instance{0.0, -1.0, 0.0};
return instance;
}
CoordinateAxis CoordinateAxis::W() {
return CoordinateAxis{0.0, 1.0, 0.0};
const CoordinateAxis& CoordinateAxis::W() {
static const CoordinateAxis instance{0.0, 1.0, 0.0};
return instance;
}
CoordinateAxis CoordinateAxis::U() {
return CoordinateAxis{0.0, 0.0, 1.0};
const CoordinateAxis& CoordinateAxis::U() {
static const CoordinateAxis instance{0.0, 0.0, 1.0};
return instance;
}
CoordinateAxis CoordinateAxis::D() {
return CoordinateAxis{0.0, 0.0, -1.0};
const CoordinateAxis& CoordinateAxis::D() {
static const CoordinateAxis instance{0.0, 0.0, -1.0};
return instance;
}

21
wpimath/src/main/native/cpp/geometry/CoordinateSystem.cpp
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@@ -69,19 +69,22 @@ CoordinateSystem::CoordinateSystem(const CoordinateAxis& positiveX,
m_rotation = Rotation3d{Quaternion{w, x, y, z}};
}
CoordinateSystem CoordinateSystem::NWU() {
return CoordinateSystem{CoordinateAxis::N(), CoordinateAxis::W(),
CoordinateAxis::U()};
const CoordinateSystem& CoordinateSystem::NWU() {
static const CoordinateSystem instance{
CoordinateAxis::N(), CoordinateAxis::W(), CoordinateAxis::U()};
return instance;
}
CoordinateSystem CoordinateSystem::EDN() {
return CoordinateSystem{CoordinateAxis::E(), CoordinateAxis::D(),
CoordinateAxis::N()};
const CoordinateSystem& CoordinateSystem::EDN() {
static const CoordinateSystem instance{
CoordinateAxis::E(), CoordinateAxis::D(), CoordinateAxis::N()};
return instance;
}
CoordinateSystem CoordinateSystem::NED() {
return CoordinateSystem{CoordinateAxis::N(), CoordinateAxis::E(),
CoordinateAxis::D()};
const CoordinateSystem& CoordinateSystem::NED() {
static const CoordinateSystem instance{
CoordinateAxis::N(), CoordinateAxis::E(), CoordinateAxis::D()};
return instance;
}
Pose3d CoordinateSystem::Convert(const Pose3d& pose,