Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-28 02:11:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Make geometry classes constexpr (#7222)

Browse Source
This commit is contained in:
Tyler Veness
2024-10-18 16:08:41 -07:00
committed by GitHub
parent 2054d0f57e
commit 95b9bd880b
30 changed files with 1324 additions and 1114 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
wpimath/src/main/native/include/frc/geometry/Transform2d.h
View File

@@ -13,7 +13,7 @@
namespace frc {
class WPILIB_DLLEXPORT Pose2d;
class Pose2d;
/**
* Represents a transformation for a Pose2d in the pose's frame.
@@ -26,7 +26,7 @@ class WPILIB_DLLEXPORT Transform2d {
* @param initial The initial pose for the transformation.
* @param final The final pose for the transformation.
*/
Transform2d(Pose2d initial, Pose2d final);
constexpr Transform2d(const Pose2d& initial, const Pose2d& final);
/**
* Constructs a transform with the given translation and rotation components.
@@ -121,17 +121,38 @@ class WPILIB_DLLEXPORT Transform2d {
* @param other The transform to compose with this one.
* @return The composition of the two transformations.
*/
Transform2d operator+(const Transform2d& other) const;
constexpr Transform2d operator+(const Transform2d& other) const;
/**
* Checks equality between this Transform2d and another object.
*/
bool operator==(const Transform2d&) const = default;
constexpr bool operator==(const Transform2d&) const = default;
private:
Translation2d m_translation;
Rotation2d m_rotation;
};
} // namespace frc
#include "frc/geometry/Pose2d.h"
namespace frc {
constexpr Transform2d::Transform2d(const Pose2d& initial, const Pose2d& final) {
// We are rotating the difference between the translations
// using a clockwise rotation matrix. This transforms the global
// delta into a local delta (relative to the initial pose).
m_translation = (final.Translation() - initial.Translation())
.RotateBy(-initial.Rotation());
m_rotation = final.Rotation() - initial.Rotation();
}
constexpr Transform2d Transform2d::operator+(const Transform2d& other) const {
return Transform2d{Pose2d{}, Pose2d{}.TransformBy(*this).TransformBy(other)};
}
} // namespace frc
#ifndef NO_PROTOBUF