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

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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
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4
wpilibc/src/main/native/cpp/Joystick.cpp
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@@ -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
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@@ -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
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@@ -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
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@@ -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;