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[wpimath] Make Rotation2d implicitly convert from any angle unit (#6316)

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Add unit category concepts to support this.
This commit is contained in:
Tyler Veness
2024-01-26 12:49:22 -08:00
committed by GitHub
parent 68736d802d
commit 84ef71ace0
3 changed files with 9 additions and 31 deletions
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13
wpimath/src/main/native/include/frc/geometry/Rotation2d.h
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@@ -28,18 +28,11 @@ class WPILIB_DLLEXPORT Rotation2d {
constexpr Rotation2d() = default;
/**
* Constructs a Rotation2d with the given radian value.
* Constructs a Rotation2d with the given angle.
*
* @param value The value of the angle in radians.
* @param value The value of the angle.
*/
constexpr Rotation2d(units::radian_t value); // NOLINT
/**
* Constructs a Rotation2d with the given degree value.
*
* @param value The value of the angle in degrees.
*/
constexpr Rotation2d(units::degree_t value); // NOLINT
constexpr Rotation2d(units::angle_unit auto value); // NOLINT
/**
* Constructs a Rotation2d with the given x and y (cosine and sine)

9
wpimath/src/main/native/include/frc/geometry/Rotation2d.inc
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@@ -11,13 +11,10 @@
namespace frc {
constexpr Rotation2d::Rotation2d(units::radian_t value)
constexpr Rotation2d::Rotation2d(units::angle_unit auto value)
: m_value(value),
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}) {}
m_cos(gcem::cos(value.template convert<units::radian>().value())),
m_sin(gcem::sin(value.template convert<units::radian>().value())) {}
constexpr Rotation2d::Rotation2d(double x, double y) {
double magnitude = gcem::hypot(x, y);

18
wpimath/src/main/native/include/units/base.h
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@@ -53,7 +53,6 @@
#if !defined(_MSC_VER) || _MSC_VER > 1800
# define UNIT_HAS_LITERAL_SUPPORT
# define UNIT_HAS_VARIADIC_TEMPLATE_SUPPORT
#endif
#ifndef UNIT_LIB_DEFAULT_TYPE
@@ -358,25 +357,14 @@ template<> inline constexpr const char* abbreviation(const namespaceName::nameSi
/** @endcond */\
}
#if defined(UNIT_HAS_VARIADIC_TEMPLATE_SUPPORT)
#define UNIT_ADD_IS_UNIT_CATEGORY_TRAIT(unitCategory)\
namespace traits\
{\
template<typename... T> struct is_ ## unitCategory ## _unit : std::integral_constant<bool, units::all_true<units::traits::detail::is_ ## unitCategory ## _unit_impl<std::decay_t<T>>::value...>::value> {};\
template<typename... T> inline constexpr bool is_ ## unitCategory ## _unit_v = is_ ## unitCategory ## _unit<T...>::value;\
}
#else
#define UNIT_ADD_IS_UNIT_CATEGORY_TRAIT(unitCategory)\
namespace traits\
{\
template<typename T1, typename T2 = T1, typename T3 = T1>\
struct is_ ## unitCategory ## _unit : std::integral_constant<bool, units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T1>::type>::value &&\
units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T2>::type>::value &&\
units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T3>::type>::value>{};\
template<typename T1, typename T2 = T1, typename T3 = T1>\
inline constexpr bool is_ ## unitCategory ## _unit_v = is_ ## unitCategory ## _unit<T1, T2, T3>::value;\
}
#endif
}\
template <typename T>\
concept unitCategory ## _unit = traits::is_ ## unitCategory ## _unit_v<T>;
#define UNIT_ADD_CATEGORY_TRAIT(unitCategory)\
UNIT_ADD_CATEGORY_TRAIT_DETAIL(unitCategory)\