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[wpimath] Make geometry classes constexpr (#7222)

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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
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24
wpimath/src/main/native/include/frc/geometry/Translation2d.h
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@@ -4,6 +4,7 @@
#pragma once
#include <algorithm>
#include <initializer_list>
#include <span>
@@ -58,7 +59,9 @@ class WPILIB_DLLEXPORT Translation2d {
*
* @param vector The translation vector to represent.
*/
explicit Translation2d(const Eigen::Vector2d& vector);
constexpr explicit Translation2d(const Eigen::Vector2d& vector)
: m_x{units::meter_t{vector.coeff(0)}},
m_y{units::meter_t{vector.coeff(1)}} {}
/**
* Calculates the distance between two translations in 2D space.
@@ -101,7 +104,7 @@ class WPILIB_DLLEXPORT Translation2d {
*
* @return The norm of the translation.
*/
units::meter_t Norm() const;
constexpr units::meter_t Norm() const { return units::math::hypot(m_x, m_y); }
/**
* Returns the angle this translation forms with the positive X axis.
@@ -234,15 +237,26 @@ class WPILIB_DLLEXPORT Translation2d {
* @param translations The collection of translations.
* @return The nearest Translation2d from the collection.
*/
Translation2d Nearest(std::span<const Translation2d> translations) const;
constexpr Translation2d Nearest(
std::span<const Translation2d> translations) const {
return *std::min_element(translations.begin(), translations.end(),
[this](Translation2d a, Translation2d b) {
return this->Distance(a) < this->Distance(b);
});
}
/**
* Returns the nearest Translation2d from a collection of translations
* @param translations The collection of translations.
* @return The nearest Translation2d from the collection.
*/
Translation2d Nearest(
std::initializer_list<Translation2d> translations) const;
constexpr Translation2d Nearest(
std::initializer_list<Translation2d> translations) const {
return *std::min_element(translations.begin(), translations.end(),
[this](Translation2d a, Translation2d b) {
return this->Distance(a) < this->Distance(b);
});
}
private:
units::meter_t m_x = 0_m;