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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);