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wpilibc: Add unit-safety to C++ geometry classes (#1811)

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This commit is contained in:
Prateek Machiraju
2019-08-17 01:00:33 -04:00
committed by Peter Johnson
parent c07ac23532
commit 8f386f6bb3
12 changed files with 108 additions and 117 deletions
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4
wpilibc/src/main/native/cpp/geometry/Pose2d.cpp
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@@ -14,7 +14,7 @@ using namespace frc;
Pose2d::Pose2d(Translation2d translation, Rotation2d rotation)
: m_translation(translation), m_rotation(rotation) {}
Pose2d::Pose2d(double x, double y, Rotation2d rotation)
Pose2d::Pose2d(units::meter_t x, units::meter_t y, Rotation2d rotation)
: m_translation(x, y), m_rotation(rotation) {}
Pose2d Pose2d::operator+(const Transform2d& other) const {
@@ -40,7 +40,7 @@ Pose2d Pose2d::RelativeTo(const Pose2d& other) const {
Pose2d Pose2d::Exp(const Twist2d& twist) const {
const auto dx = twist.dx;
const auto dy = twist.dy;
const auto dtheta = twist.dtheta;
const auto dtheta = twist.dtheta.to<double>();
const auto sinTheta = std::sin(dtheta);
const auto cosTheta = std::cos(dtheta);