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[wpimath] Deduplicate angle modulus functions (#2998)

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frc::NormalizeAngle(), units::math::NormalizeAngle(), and
frc::GetModulusError() were replaced with frc::InputModulus() and
frc::AngleModulus().

They were placed in wpimath/src/main/native/include/frc/MathUtil.h for
C++ and wpimath/src/main/java/edu/wpi/first/wpiutil/math/MathUtil.java
for Java.
This commit is contained in:
Tyler Veness
2021-01-01 16:22:00 -08:00
committed by GitHub
parent bf8c0da4be
commit 62f0f8190d
23 changed files with 210 additions and 219 deletions
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11
wpimath/src/test/native/cpp/UnitsTest.cpp
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@@ -2976,17 +2976,6 @@ TEST_F(UnitMath, abs) {
EXPECT_EQ(meter_t(10.0), abs(meter_t(10.0)));
}
TEST_F(UnitMath, normalize) {
EXPECT_EQ(NormalizeAngle(radian_t(5 * wpi::math::pi)),
radian_t(wpi::math::pi));
EXPECT_EQ(NormalizeAngle(radian_t(-5 * wpi::math::pi)),
radian_t(wpi::math::pi));
EXPECT_EQ(NormalizeAngle(radian_t(wpi::math::pi / 2)),
radian_t(wpi::math::pi / 2));
EXPECT_EQ(NormalizeAngle(radian_t(-wpi::math::pi / 2)),
radian_t(-wpi::math::pi / 2));
}
// Constexpr
#if !defined(_MSC_VER) || _MSC_VER > 1800
TEST_F(Constexpr, construction) {