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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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wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp
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@@ -33,7 +33,7 @@ TEST(LTVUnicycleControllerTest, ReachesReference) {
auto [vx, vy, omega] = controller.Calculate(robotPose, state);
static_cast<void>(vy);
robotPose = robotPose.Exp(frc::Twist2d{vx * kDt, 0_m, omega * kDt});
robotPose = robotPose + frc::Twist2d{vx * kDt, 0_m, omega * kDt}.Exp();
}
auto& endPose = trajectory.States().back().pose;