Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Clean up math comments (#4252)

Browse Source
This commit is contained in:
Tyler Veness
2022-05-20 15:16:56 -07:00
committed by GitHub
parent fff4d1f44e
commit 5aa67f56e6
25 changed files with 141 additions and 132 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
wpimath/src/main/native/include/frc/trajectory/constraint/EllipticalRegionConstraint.h
View File

@@ -66,11 +66,16 @@ class EllipticalRegionConstraint : public TrajectoryConstraint {
* @return Whether the robot pose is within the constraint region.
*/
bool IsPoseInRegion(const Pose2d& pose) const {
// The region (disk) bounded by the ellipse is given by the equation:
// ((x-h)^2)/Rx^2) + ((y-k)^2)/Ry^2) <= 1
// The region bounded by the ellipse is given by the equation:
//
// (x−h)²/Rx² + (y−k)²/Ry² ≤ 1
//
// Multiply by Rx²Ry² for efficiency reasons:
//
// (x−h)²Ry² + (y−k)²Rx² ≤ Rx²Ry²
//
// If the inequality is satisfied, then it is inside the ellipse; otherwise
// it is outside the ellipse.
// Both sides have been multiplied by Rx^2 * Ry^2 for efficiency reasons.
return units::math::pow<2>(pose.X() - m_center.X()) *
units::math::pow<2>(m_radii.Y()) +
units::math::pow<2>(pose.Y() - m_center.Y()) *