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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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10
wpimath/src/main/native/include/frc/geometry/Translation3d.h
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@@ -48,7 +48,7 @@ class WPILIB_DLLEXPORT Translation3d {
* @param distance The distance from the origin to the end of the translation.
* @param angle The angle between the x-axis and the translation vector.
*/
Translation3d(units::meter_t distance, const Rotation3d& angle) {
constexpr Translation3d(units::meter_t distance, const Rotation3d& angle) {
auto rectangular = Translation3d{distance, 0_m, 0_m}.RotateBy(angle);
m_x = rectangular.X();
m_y = rectangular.Y();
@@ -61,7 +61,7 @@ class WPILIB_DLLEXPORT Translation3d {
*
* @param vector The translation vector to represent.
*/
explicit Translation3d(const Eigen::Vector3d& vector)
constexpr explicit Translation3d(const Eigen::Vector3d& vector)
: m_x{units::meter_t{vector.x()}},
m_y{units::meter_t{vector.y()}},
m_z{units::meter_t{vector.z()}} {}
@@ -76,7 +76,7 @@ class WPILIB_DLLEXPORT Translation3d {
*
* @return The distance between the two translations.
*/
units::meter_t Distance(const Translation3d& other) const {
constexpr units::meter_t Distance(const Translation3d& other) const {
return units::math::sqrt(units::math::pow<2>(other.m_x - m_x) +
units::math::pow<2>(other.m_y - m_y) +
units::math::pow<2>(other.m_z - m_z));
@@ -117,7 +117,7 @@ class WPILIB_DLLEXPORT Translation3d {
*
* @return The norm of the translation.
*/
units::meter_t Norm() const {
constexpr units::meter_t Norm() const {
return units::math::sqrt(m_x * m_x + m_y * m_y + m_z * m_z);
}
@@ -131,7 +131,7 @@ class WPILIB_DLLEXPORT Translation3d {
*
* @return The new rotated translation.
*/
Translation3d RotateBy(const Rotation3d& other) const {
constexpr Translation3d RotateBy(const Rotation3d& other) const {
Quaternion p{0.0, m_x.value(), m_y.value(), m_z.value()};
auto qprime = other.GetQuaternion() * p * other.GetQuaternion().Inverse();
return Translation3d{units::meter_t{qprime.X()}, units::meter_t{qprime.Y()},