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[wpimath] Make gcem call std functions if not constant-evaluated (#5983)

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The one exception is macOS, which doesn't support std::beta().
This commit is contained in:
Tyler Veness
2023-12-01 09:08:04 -08:00
committed by GitHub
parent 30816111db
commit 74b85b76a9
39 changed files with 1256 additions and 15 deletions
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20
wpimath/src/main/native/include/frc/geometry/Rotation2d.inc
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@@ -4,27 +4,23 @@
#pragma once
#include <type_traits>
#include <gcem.hpp>
#include "frc/geometry/Rotation2d.h"
#include "gcem.hpp"
#include "units/angle.h"
namespace frc {
constexpr Rotation2d::Rotation2d(units::radian_t value)
: m_value(value),
m_cos(std::is_constant_evaluated() ? gcem::cos(value.to<double>())
: std::cos(value.to<double>())),
m_sin(std::is_constant_evaluated() ? gcem::sin(value.to<double>())
: std::sin(value.to<double>())) {}
m_cos(gcem::cos(value.to<double>())),
m_sin(gcem::sin(value.to<double>())) {}
constexpr Rotation2d::Rotation2d(units::degree_t value)
: Rotation2d(units::radian_t{value}) {}
constexpr Rotation2d::Rotation2d(double x, double y) {
double magnitude =
std::is_constant_evaluated() ? gcem::hypot(x, y) : std::hypot(x, y);
double magnitude = gcem::hypot(x, y);
if (magnitude > 1e-6) {
m_sin = y / magnitude;
m_cos = x / magnitude;
@@ -32,9 +28,7 @@ constexpr Rotation2d::Rotation2d(double x, double y) {
m_sin = 0.0;
m_cos = 1.0;
}
m_value =
units::radian_t{std::is_constant_evaluated() ? gcem::atan2(m_sin, m_cos)
: std::atan2(m_sin, m_cos)};
m_value = units::radian_t{gcem::atan2(m_sin, m_cos)};
}
constexpr Rotation2d Rotation2d::operator-() const {
@@ -58,9 +52,7 @@ constexpr Rotation2d Rotation2d::operator/(double scalar) const {
}
constexpr bool Rotation2d::operator==(const Rotation2d& other) const {
return (std::is_constant_evaluated()
? gcem::hypot(Cos() - other.Cos(), Sin() - other.Sin())
: std::hypot(Cos() - other.Cos(), Sin() - other.Sin())) < 1E-9;
return gcem::hypot(Cos() - other.Cos(), Sin() - other.Sin()) < 1E-9;
}
constexpr Rotation2d Rotation2d::RotateBy(const Rotation2d& other) const {