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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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7
wpimath/src/main/native/include/frc/MathUtil.h
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@@ -4,7 +4,7 @@
#pragma once
#include <wpi/math>
#include <wpi/numbers>
#include "units/angle.h"
@@ -38,8 +38,9 @@ constexpr T InputModulus(T input, T minimumInput, T maximumInput) {
* @param angle Angle to wrap.
*/
constexpr units::radian_t AngleModulus(units::radian_t angle) {
return InputModulus<units::radian_t>(angle, units::radian_t{-wpi::math::pi},
units::radian_t{wpi::math::pi});
return InputModulus<units::radian_t>(angle,
units::radian_t{-wpi::numbers::pi},
units::radian_t{wpi::numbers::pi});
}
} // namespace frc

4
wpimath/src/main/native/include/frc/estimator/AngleStatistics.h
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@@ -4,7 +4,7 @@
#pragma once
#include <wpi/math>
#include <wpi/numbers>
#include "Eigen/Core"
#include "frc/MathUtil.h"
@@ -59,7 +59,7 @@ Eigen::Matrix<double, States, 1> AngleAdd(
const Eigen::Matrix<double, States, 1>& b, int angleStateIdx) {
Eigen::Matrix<double, States, 1> ret = a + b;
ret[angleStateIdx] =
InputModulus(ret[angleStateIdx], -wpi::math::pi, wpi::math::pi);
InputModulus(ret[angleStateIdx], -wpi::numbers::pi, wpi::numbers::pi);
return ret;
}

2
wpimath/src/main/native/include/units/math.h
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@@ -28,8 +28,6 @@
#include <cmath>
#include <wpi/math>
#include "units/angle.h"
#include "units/base.h"
#include "units/dimensionless.h"