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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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16
wpilibc/src/main/native/include/frc/geometry/Translation2d.h
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@@ -7,6 +7,8 @@
#pragma once
#include <units/units.h>
#include "Rotation2d.h"
namespace frc {
@@ -33,7 +35,7 @@ class Translation2d {
* @param x The x component of the translation.
* @param y The y component of the translation.
*/
Translation2d(double x, double y);
Translation2d(units::meter_t x, units::meter_t y);
/**
* Calculates the distance between two translations in 2d space.
@@ -45,28 +47,28 @@ class Translation2d {
*
* @return The distance between the two translations.
*/
double Distance(const Translation2d& other) const;
units::meter_t Distance(const Translation2d& other) const;
/**
* Returns the X component of the translation.
*
* @return The x component of the translation.
*/
double X() const { return m_x; }
units::meter_t X() const { return m_x; }
/**
* Returns the Y component of the translation.
*
* @return The y component of the translation.
*/
double Y() const { return m_y; }
units::meter_t Y() const { return m_y; }
/**
* Returns the norm, or distance from the origin to the translation.
*
* @return The norm of the translation.
*/
double Norm() const;
units::meter_t Norm() const;
/**
* Applies a rotation to the translation in 2d space.
@@ -190,7 +192,7 @@ class Translation2d {
Translation2d& operator/=(double scalar);
private:
double m_x = 0;
double m_y = 0;
units::meter_t m_x = 0_m;
units::meter_t m_y = 0_m;
};
} // namespace frc