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Add equality comparator to geometry classes (#1882)

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This commit is contained in:
Prateek Machiraju
2019-09-08 14:20:26 -04:00
committed by Peter Johnson
parent 62f07c182c
commit 86b666bba9
26 changed files with 341 additions and 10 deletions
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8
wpilibc/src/main/native/cpp/geometry/Rotation2d.cpp
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@@ -52,6 +52,14 @@ Rotation2d& Rotation2d::operator-=(const Rotation2d& other) {
Rotation2d Rotation2d::operator-() const { return Rotation2d(-m_value); }
bool Rotation2d::operator==(const Rotation2d& other) const {
return units::math::abs(m_value - other.m_value) < 1E-9_rad;
}
bool Rotation2d::operator!=(const Rotation2d& other) const {
return !operator==(other);
}
Rotation2d Rotation2d::RotateBy(const Rotation2d& other) const {
return {Cos() * other.Cos() - Sin() * other.Sin(),
Cos() * other.Sin() + Sin() * other.Cos()};