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[wpimath] Add affine transformation constructors and getters to geometry API (#7509)

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Fixes #7429.
This commit is contained in:
Tyler Veness
2024-12-07 21:29:02 -08:00
committed by GitHub
parent c81bd0c909
commit 62a6a77bbf
32 changed files with 611 additions and 27 deletions
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9
wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
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@@ -131,7 +131,10 @@ public final class StateSpaceUtil {
*
* @param pose A pose to convert to a vector.
* @return The given pose in vector form, with the third element, theta, in radians.
* @deprecated Create the vector manually instead. If you were using this as an intermediate step
* for constructing affine transformations, use {@link Pose2d#toMatrix()} instead.
*/
@Deprecated(forRemoval = true, since = "2025")
public static Matrix<N3, N1> poseToVector(Pose2d pose) {
return VecBuilder.fill(pose.getX(), pose.getY(), pose.getRotation().getRadians());
}
@@ -180,7 +183,10 @@ public final class StateSpaceUtil {
*
* @param pose A pose to convert to a vector.
* @return The given pose in as a 4x1 vector of x, y, cos(theta), and sin(theta).
* @deprecated Create the vector manually instead. If you were using this as an intermediate step
* for constructing affine transformations, use {@link Pose2d#toMatrix()} instead.
*/
@Deprecated(forRemoval = true, since = "2025")
public static Matrix<N4, N1> poseTo4dVector(Pose2d pose) {
return VecBuilder.fill(
pose.getTranslation().getX(),
@@ -194,7 +200,10 @@ public final class StateSpaceUtil {
*
* @param pose A pose to convert to a vector.
* @return The given pose in vector form, with the third element, theta, in radians.
* @deprecated Create the vector manually instead. If you were using this as an intermediate step
* for constructing affine transformations, use {@link Pose2d#toMatrix()} instead.
*/
@Deprecated(forRemoval = true, since = "2025")
public static Matrix<N3, N1> poseTo3dVector(Pose2d pose) {
return VecBuilder.fill(
pose.getTranslation().getX(),