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[wpimath] Report error when x and y components of Rotation2d are both zero (#6767)

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Fixes #6766.
This commit is contained in:
Tyler Veness
2024-07-08 11:23:36 -07:00
committed by GitHub
parent 3d22eeca9d
commit 7f6ba54b68
2 changed files with 13 additions and 0 deletions
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3
wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
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@@ -10,6 +10,7 @@ import com.fasterxml.jackson.annotation.JsonAutoDetect;
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.proto.Rotation2dProto;
import edu.wpi.first.math.geometry.struct.Rotation2dStruct;
@@ -118,6 +119,8 @@ public class Rotation2d
} else {
m_sin = 0.0;
m_cos = 1.0;
MathSharedStore.reportError(
"x and y components of Rotation2d are zero\n", Thread.currentThread().getStackTrace());
}
m_value = Math.atan2(m_sin, m_cos);
}

10
wpimath/src/main/native/include/frc/geometry/Rotation2d.inc
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@@ -4,10 +4,15 @@
#pragma once
#include <string>
#include <type_traits>
#include <gcem.hpp>
#include <wpi/StackTrace.h>
#include "frc/geometry/Rotation2d.h"
#include "units/angle.h"
#include "wpimath/MathShared.h"
namespace frc {
@@ -24,6 +29,11 @@ constexpr Rotation2d::Rotation2d(double x, double y) {
} else {
m_sin = 0.0;
m_cos = 1.0;
if (!std::is_constant_evaluated()) {
wpi::math::MathSharedStore::ReportError(
"x and y components of Rotation2d are zero\n{}",
wpi::GetStackTrace(1));
}
}
m_value = units::radian_t{gcem::atan2(m_sin, m_cos)};
}