Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpiunits] Change units to track their base unit, instead of their base class (#6342)

Browse Source 
Unit objects now have a reference to the base unit from which they're derived. Constructing a unit object without specifying a base unit implicitly signifies that it's its own base unit, eg new Angle(null, 1, "Radian", "rad") would be the base angle unit of radians, while new Angle(Radians, 2 * PI, "Rotation", "R") would be a new angle unit based on radians.

This fixes much of the hacky code surrounding the derived unit types Velocity, Per, and Mult, but is a breaking change for any user code that defines custom unit classes or uses the anonymous unit type.
This commit is contained in:
Sam Carlberg
2024-05-12 09:15:56 -04:00
committed by GitHub
parent dc00a13d83
commit 6c9dcc157e
23 changed files with 312 additions and 162 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
wpiunits/src/main/java/edu/wpi/first/units/Measure.java
View File

@@ -4,6 +4,8 @@
package edu.wpi.first.units;
import static edu.wpi.first.units.Units.Seconds;
/**
* A measure holds the magnitude and unit of some dimension, such as distance, time, or speed. Two
* measures with the same <i>unit</i> and <i>magnitude</i> are effectively equivalent objects.
@@ -91,28 +93,28 @@ public interface Measure<U extends Unit<U>> extends Comparable<Measure<U>> {
}
if (unit() instanceof Per
&& other.unit().m_baseType.equals(((Per<?, ?>) unit()).denominator().m_baseType)) {
&& other.unit().getBaseUnit().equals(((Per<?, ?>) unit()).denominator().getBaseUnit())) {
// denominator of the Per cancels out, return with just the units of the numerator
Unit<?> numerator = ((Per<?, ?>) unit()).numerator();
return numerator.ofBaseUnits(baseUnitMagnitude() * other.baseUnitMagnitude());
} else if (unit() instanceof Velocity && other.unit().m_baseType.equals(Time.class)) {
} else if (unit() instanceof Velocity && other.unit().getBaseUnit().equals(Seconds)) {
// Multiplying a velocity by a time, return the scalar unit (eg Distance)
Unit<?> numerator = ((Velocity<?>) unit()).getUnit();
return numerator.ofBaseUnits(baseUnitMagnitude() * other.baseUnitMagnitude());
} else if (other.unit() instanceof Per
&& unit().m_baseType.equals(((Per<?, ?>) other.unit()).denominator().m_baseType)) {
&& unit().getBaseUnit().equals(((Per<?, ?>) other.unit()).denominator().getBaseUnit())) {
Unit<?> numerator = ((Per<?, ?>) other.unit()).numerator();
return numerator.ofBaseUnits(baseUnitMagnitude() * other.baseUnitMagnitude());
} else if (unit() instanceof Per
&& other.unit() instanceof Per
&& ((Per<?, ?>) unit())
.denominator()
.m_baseType
.equals(((Per<?, U>) other.unit()).numerator().m_baseType)
.getBaseUnit()
.equals(((Per<?, U>) other.unit()).numerator().getBaseUnit())
&& ((Per<?, ?>) unit())
.numerator()
.m_baseType
.equals(((Per<?, ?>) other.unit()).denominator().m_baseType)) {
.getBaseUnit()
.equals(((Per<?, ?>) other.unit()).denominator().getBaseUnit())) {
// multiplying eg meters per second * milliseconds per foot
// return a scalar
return Units.Value.of(baseUnitMagnitude() * other.baseUnitMagnitude());
@@ -255,7 +257,7 @@ public interface Measure<U extends Unit<U>> extends Comparable<Measure<U>> {
* @return true if this unit is near the other measure, otherwise false
*/
default boolean isNear(Measure<?> other, double varianceThreshold) {
if (this.unit().m_baseType != other.unit().m_baseType) {
if (!this.unit().getBaseUnit().equivalent(other.unit().getBaseUnit())) {
return false; // Disjoint units, not compatible
}
@@ -291,7 +293,7 @@ public interface Measure<U extends Unit<U>> extends Comparable<Measure<U>> {
* @return true if this measure is equivalent, false otherwise
*/
default boolean isEquivalent(Measure<?> other) {
if (this.unit().m_baseType != other.unit().m_baseType) {
if (!this.unit().getBaseUnit().equals(other.unit().getBaseUnit())) {
return false; // Disjoint units, not compatible
}