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[wpimath] Replace Pose2/3d.exp(Twist2/3d) with Pose2/3d.plus(Twist2/3d.exp()) (#8188)

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This better matches math notation.
This commit is contained in:
ninjadrknss
2025-08-30 11:37:09 -07:00
committed by GitHub
parent 55e52bc2b7
commit 96004f9bb5
51 changed files with 643 additions and 682 deletions
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4
wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h
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@@ -166,9 +166,9 @@ inline TimeInterpolatableBuffer<Pose2d>::TimeInterpolatableBuffer(
} else if (t >= 1) {
return end;
} else {
Twist2d twist = start.Log(end);
Twist2d twist = (end - start).Log();
Twist2d scaledTwist = twist * t;
return start.Exp(scaledTwist);
return start + scaledTwist.Exp();
}
}) {}