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[wpimath] Rename 1D copySignPow to match 2D copyDirectionPow (#8286)

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This commit is contained in:
Michael Lesirge
2025-10-11 09:24:10 -07:00
committed by GitHub
parent 2b43541b94
commit 9e85f3cf55
6 changed files with 73 additions and 71 deletions
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8
wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
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@@ -157,7 +157,7 @@ public final class MathUtil {
* @param maxMagnitude The maximum expected absolute value of input. Must be positive.
* @return The transformed value with the same sign and scaled to the input range.
*/
public static double copySignPow(double value, double exponent, double maxMagnitude) {
public static double copyDirectionPow(double value, double exponent, double maxMagnitude) {
return Math.copySign(Math.pow(Math.abs(value) / maxMagnitude, exponent), value) * maxMagnitude;
}
@@ -172,8 +172,8 @@ public final class MathUtil {
* positive.
* @return The transformed value with the same sign.
*/
public static double copySignPow(double value, double exponent) {
return copySignPow(value, exponent, 1);
public static double copyDirectionPow(double value, double exponent) {
return copyDirectionPow(value, exponent, 1);
}
/**
@@ -196,7 +196,7 @@ public final class MathUtil {
if (value.norm() < 1e-9) {
return value.times(0);
}
return value.unit().times(copySignPow(value.norm(), exponent, maxMagnitude));
return value.unit().times(copyDirectionPow(value.norm(), exponent, maxMagnitude));
}
/**

5
wpimath/src/main/native/include/frc/MathUtil.h
View File

@@ -143,7 +143,8 @@ Eigen::Vector<T, N> ApplyDeadband(const Eigen::Vector<T, N>& value, T deadband,
*/
template <typename T>
requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>
constexpr T CopySignPow(T value, double exponent, T maxMagnitude = T{1.0}) {
constexpr T CopyDirectionPow(T value, double exponent,
T maxMagnitude = T{1.0}) {
if constexpr (std::is_arithmetic_v<T>) {
return gcem::copysign(
gcem::pow(gcem::abs(value) / maxMagnitude, exponent) * maxMagnitude,
@@ -183,7 +184,7 @@ Eigen::Vector<T, N> CopyDirectionPow(const Eigen::Vector<T, N>& value,
return Eigen::Vector<T, N>::Zero();
}
return value.normalized() *
CopySignPow(value.norm(), exponent, maxMagnitude);
CopyDirectionPow(value.norm(), exponent, maxMagnitude);
} else {
const Eigen::Vector<double, N> asDouble = value.template cast<double>();
const Eigen::Vector<double, N> processed =