Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-04 03:11:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpiutil] Deprecate wpi::math constants in favor of wpi::numbers (#3383)

Browse Source 
The constants were moved from std::math to std::numbers before
ratification in C++20.
This commit is contained in:
Tyler Veness
2021-05-26 00:09:36 -07:00
committed by GitHub
parent 393bf23c0c
commit a238cec12b
73 changed files with 322 additions and 284 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpilibc/src/main/native/cpp/Joystick.cpp
View File

@@ -7,7 +7,7 @@
#include <cmath>
#include <hal/FRCUsageReporting.h>
#include <wpi/math>
#include <wpi/numbers>
using namespace frc;
@@ -114,5 +114,5 @@ double Joystick::GetDirectionRadians() const {
}
double Joystick::GetDirectionDegrees() const {
return (180 / wpi::math::pi) * GetDirectionRadians();
return (180 / wpi::numbers::pi) * GetDirectionRadians();
}

18
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
View File

@@ -8,7 +8,7 @@
#include <cmath>
#include <hal/FRCUsageReporting.h>
#include <wpi/math>
#include <wpi/numbers>
#include "frc/SpeedController.h"
#include "frc/smartdashboard/SendableBuilder.h"
@@ -37,12 +37,12 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
: m_leftMotor(&leftMotor),
m_rightMotor(&rightMotor),
m_backMotor(&backMotor) {
m_leftVec = {std::cos(leftMotorAngle * (wpi::math::pi / 180.0)),
std::sin(leftMotorAngle * (wpi::math::pi / 180.0))};
m_rightVec = {std::cos(rightMotorAngle * (wpi::math::pi / 180.0)),
std::sin(rightMotorAngle * (wpi::math::pi / 180.0))};
m_backVec = {std::cos(backMotorAngle * (wpi::math::pi / 180.0)),
std::sin(backMotorAngle * (wpi::math::pi / 180.0))};
m_leftVec = {std::cos(leftMotorAngle * (wpi::numbers::pi / 180.0)),
std::sin(leftMotorAngle * (wpi::numbers::pi / 180.0))};
m_rightVec = {std::cos(rightMotorAngle * (wpi::numbers::pi / 180.0)),
std::sin(rightMotorAngle * (wpi::numbers::pi / 180.0))};
m_backVec = {std::cos(backMotorAngle * (wpi::numbers::pi / 180.0)),
std::sin(backMotorAngle * (wpi::numbers::pi / 180.0))};
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, m_leftMotor);
registry.AddChild(this, m_rightMotor);
@@ -81,8 +81,8 @@ void KilloughDrive::DrivePolar(double magnitude, double angle,
reported = true;
}
DriveCartesian(magnitude * std::sin(angle * (wpi::math::pi / 180.0)),
magnitude * std::cos(angle * (wpi::math::pi / 180.0)),
DriveCartesian(magnitude * std::sin(angle * (wpi::numbers::pi / 180.0)),
magnitude * std::cos(angle * (wpi::numbers::pi / 180.0)),
zRotation, 0.0);
}

6
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
View File

@@ -8,7 +8,7 @@
#include <cmath>
#include <hal/FRCUsageReporting.h>
#include <wpi/math>
#include <wpi/numbers>
#include "frc/SpeedController.h"
#include "frc/drive/Vector2d.h"
@@ -73,8 +73,8 @@ void MecanumDrive::DrivePolar(double magnitude, double angle,
reported = true;
}
DriveCartesian(magnitude * std::cos(angle * (wpi::math::pi / 180.0)),
magnitude * std::sin(angle * (wpi::math::pi / 180.0)),
DriveCartesian(magnitude * std::cos(angle * (wpi::numbers::pi / 180.0)),
magnitude * std::sin(angle * (wpi::numbers::pi / 180.0)),
zRotation, 0.0);
}

6
wpilibc/src/main/native/cpp/drive/Vector2d.cpp
View File

@@ -6,7 +6,7 @@
#include <cmath>
#include <wpi/math>
#include <wpi/numbers>
using namespace frc;
@@ -16,8 +16,8 @@ Vector2d::Vector2d(double x, double y) {
}
void Vector2d::Rotate(double angle) {
double cosA = std::cos(angle * (wpi::math::pi / 180.0));
double sinA = std::sin(angle * (wpi::math::pi / 180.0));
double cosA = std::cos(angle * (wpi::numbers::pi / 180.0));
double sinA = std::sin(angle * (wpi::numbers::pi / 180.0));
double out[2];
out[0] = x * cosA - y * sinA;
out[1] = x * sinA + y * cosA;

5
wpilibc/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
View File

@@ -4,7 +4,7 @@
#include <units/math.h>
#include <units/time.h>
#include <wpi/math>
#include <wpi/numbers>
#include "frc/MathUtil.h"
#include "frc/controller/HolonomicDriveController.h"
@@ -15,7 +15,8 @@
EXPECT_LE(units::math::abs(val1 - val2), eps)
static constexpr units::meter_t kTolerance{1 / 12.0};
static constexpr units::radian_t kAngularTolerance{2.0 * wpi::math::pi / 180.0};
static constexpr units::radian_t kAngularTolerance{2.0 * wpi::numbers::pi /
180.0};
TEST(HolonomicDriveControllerTest, ReachesReference) {
frc::HolonomicDriveController controller{

18
wpilibc/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
View File

@@ -5,7 +5,7 @@
#include <units/angle.h>
#include <units/angular_acceleration.h>
#include <units/angular_velocity.h>
#include <wpi/math>
#include <wpi/numbers>
#include "frc/controller/ProfiledPIDController.h"
#include "gtest/gtest.h"
@@ -40,8 +40,8 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest1) {
TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest2) {
controller->SetP(1);
controller->EnableContinuousInput(-units::radian_t{wpi::math::pi},
units::radian_t{wpi::math::pi});
controller->EnableContinuousInput(-units::radian_t{wpi::numbers::pi},
units::radian_t{wpi::numbers::pi});
static constexpr units::radian_t kSetpoint{-3.4826633343199735};
static constexpr units::radian_t kMeasurement{-3.1352207333939606};
@@ -52,13 +52,13 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest2) {
// Error must be less than half the input range at all times
EXPECT_LT(units::math::abs(controller->GetSetpoint().position - kMeasurement),
units::radian_t{wpi::math::pi});
units::radian_t{wpi::numbers::pi});
}
TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest3) {
controller->SetP(1);
controller->EnableContinuousInput(-units::radian_t{wpi::math::pi},
units::radian_t{wpi::math::pi});
controller->EnableContinuousInput(-units::radian_t{wpi::numbers::pi},
units::radian_t{wpi::numbers::pi});
static constexpr units::radian_t kSetpoint{-3.5176604690006377};
static constexpr units::radian_t kMeasurement{3.1191729343822456};
@@ -69,13 +69,13 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest3) {
// Error must be less than half the input range at all times
EXPECT_LT(units::math::abs(controller->GetSetpoint().position - kMeasurement),
units::radian_t{wpi::math::pi});
units::radian_t{wpi::numbers::pi});
}
TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest4) {
controller->SetP(1);
controller->EnableContinuousInput(0_rad,
units::radian_t{2.0 * wpi::math::pi});
units::radian_t{2.0 * wpi::numbers::pi});
static constexpr units::radian_t kSetpoint{2.78};
static constexpr units::radian_t kMeasurement{3.12};
@@ -86,7 +86,7 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest4) {
// Error must be less than half the input range at all times
EXPECT_LT(units::math::abs(controller->GetSetpoint().position - kMeasurement),
units::radian_t{wpi::math::pi});
units::radian_t{wpi::numbers::pi});
}
TEST_F(ProfiledPIDInputOutputTest, ProportionalGainOutputTest) {

3
wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
View File

@@ -13,7 +13,8 @@
EXPECT_LE(units::math::abs(val1 - val2), eps)
static constexpr units::meter_t kTolerance{1 / 12.0};
static constexpr units::radian_t kAngularTolerance{2.0 * wpi::math::pi / 180.0};
static constexpr units::radian_t kAngularTolerance{2.0 * wpi::numbers::pi /
180.0};
TEST(RamseteControllerTest, ReachesReference) {
frc::RamseteController controller{2.0, 0.7};

4
wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp
View File

@@ -4,7 +4,7 @@
#include <hal/HAL.h>
#include <units/math.h>
#include <wpi/math>
#include <wpi/numbers>
#include "frc/AnalogEncoder.h"
#include "frc/AnalogInput.h"
@@ -22,6 +22,6 @@ TEST(AnalogEncoderSimTest, TestBasic) {
encoderSim.SetPosition(180_deg);
EXPECT_NEAR(encoder.Get().to<double>(), 0.5, 1E-8);
EXPECT_NEAR(encoderSim.GetTurns().to<double>(), 0.5, 1E-8);
EXPECT_NEAR(encoderSim.GetPosition().Radians().to<double>(), wpi::math::pi,
EXPECT_NEAR(encoderSim.GetPosition().Radians().to<double>(), wpi::numbers::pi,
1E-8);
}

4
wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
View File

@@ -2,7 +2,7 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <wpi/math>
#include <wpi/numbers>
#include "frc/simulation/SingleJointedArmSim.h"
#include "gtest/gtest.h"
@@ -18,5 +18,5 @@ TEST(SingleJointedArmTest, Disabled) {
}
// The arm should swing down.
EXPECT_NEAR(sim.GetAngle().to<double>(), -wpi::math::pi / 2, 0.01);
EXPECT_NEAR(sim.GetAngle().to<double>(), -wpi::numbers::pi / 2, 0.01);
}