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SCRIPT namespace replacements

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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
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38
wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp
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@@ -9,7 +9,7 @@
#include "wpi/units/math.hpp"
#include "wpi/util/SymbolExports.hpp"
namespace frc {
namespace wpi::math {
class Transform3d;
@@ -24,32 +24,32 @@ struct WPILIB_DLLEXPORT Twist3d {
/**
* Linear "dx" component
*/
units::meter_t dx = 0_m;
wpi::units::meter_t dx = 0_m;
/**
* Linear "dy" component
*/
units::meter_t dy = 0_m;
wpi::units::meter_t dy = 0_m;
/**
* Linear "dz" component
*/
units::meter_t dz = 0_m;
wpi::units::meter_t dz = 0_m;
/**
* Rotation vector x component.
*/
units::radian_t rx = 0_rad;
wpi::units::radian_t rx = 0_rad;
/**
* Rotation vector y component.
*/
units::radian_t ry = 0_rad;
wpi::units::radian_t ry = 0_rad;
/**
* Rotation vector z component.
*/
units::radian_t rz = 0_rad;
wpi::units::radian_t rz = 0_rad;
/**
* Obtain a new Transform3d from a (constant curvature) velocity.
@@ -76,12 +76,12 @@ struct WPILIB_DLLEXPORT Twist3d {
* @return Whether the two objects are equal.
*/
constexpr bool operator==(const Twist3d& other) const {
return units::math::abs(dx - other.dx) < 1E-9_m &&
units::math::abs(dy - other.dy) < 1E-9_m &&
units::math::abs(dz - other.dz) < 1E-9_m &&
units::math::abs(rx - other.rx) < 1E-9_rad &&
units::math::abs(ry - other.ry) < 1E-9_rad &&
units::math::abs(rz - other.rz) < 1E-9_rad;
return wpi::units::math::abs(dx - other.dx) < 1E-9_m &&
wpi::units::math::abs(dy - other.dy) < 1E-9_m &&
wpi::units::math::abs(dz - other.dz) < 1E-9_m &&
wpi::units::math::abs(rx - other.rx) < 1E-9_rad &&
wpi::units::math::abs(ry - other.ry) < 1E-9_rad &&
wpi::units::math::abs(rz - other.rz) < 1E-9_rad;
}
/**
@@ -96,12 +96,12 @@ struct WPILIB_DLLEXPORT Twist3d {
}
};
} // namespace frc
} // namespace wpi::math
#include "wpi/math/geometry/Transform3d.hpp"
#include "wpi/math/geometry/detail/RotationVectorToMatrix.hpp"
namespace frc {
namespace wpi::math {
constexpr Transform3d Twist3d::Exp() const {
// Implementation from Section 3.2 of https://ethaneade.org/lie.pdf
@@ -147,9 +147,9 @@ constexpr Transform3d Twist3d::Exp() const {
Vector3d translation_component = V * u;
const Transform3d transform{
Translation3d{units::meter_t{translation_component(0)},
units::meter_t{translation_component(1)},
units::meter_t{translation_component(2)}},
Translation3d{wpi::units::meter_t{translation_component(0)},
wpi::units::meter_t{translation_component(1)},
wpi::units::meter_t{translation_component(2)}},
Rotation3d{R}};
return transform;
@@ -161,7 +161,7 @@ constexpr Transform3d Twist3d::Exp() const {
return impl.template operator()<Eigen::Matrix3d, Eigen::Vector3d>();
}
} // namespace frc
} // namespace wpi::math
#include "wpi/math/geometry/proto/Twist3dProto.hpp"
#include "wpi/math/geometry/struct/Twist3dStruct.hpp"