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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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12
wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
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@@ -4,7 +4,7 @@
#include <cmath>
#include <wpi/math>
#include <wpi/numbers>
#include "frc/geometry/Rotation2d.h"
#include "gtest/gtest.h"
@@ -14,8 +14,8 @@ using namespace frc;
static constexpr double kEpsilon = 1E-9;
TEST(Rotation2dTest, RadiansToDegrees) {
const Rotation2d rot1{units::radian_t(wpi::math::pi / 3)};
const Rotation2d rot2{units::radian_t(wpi::math::pi / 4)};
const Rotation2d rot1{units::radian_t(wpi::numbers::pi / 3)};
const Rotation2d rot2{units::radian_t(wpi::numbers::pi / 4)};
EXPECT_NEAR(rot1.Degrees().to<double>(), 60.0, kEpsilon);
EXPECT_NEAR(rot2.Degrees().to<double>(), 45.0, kEpsilon);
@@ -25,15 +25,15 @@ TEST(Rotation2dTest, DegreesToRadians) {
const auto rot1 = Rotation2d(45.0_deg);
const auto rot2 = Rotation2d(30.0_deg);
EXPECT_NEAR(rot1.Radians().to<double>(), wpi::math::pi / 4.0, kEpsilon);
EXPECT_NEAR(rot2.Radians().to<double>(), wpi::math::pi / 6.0, kEpsilon);
EXPECT_NEAR(rot1.Radians().to<double>(), wpi::numbers::pi / 4.0, kEpsilon);
EXPECT_NEAR(rot2.Radians().to<double>(), wpi::numbers::pi / 6.0, kEpsilon);
}
TEST(Rotation2dTest, RotateByFromZero) {
const Rotation2d zero;
auto sum = zero + Rotation2d(90.0_deg);
EXPECT_NEAR(sum.Radians().to<double>(), wpi::math::pi / 2.0, kEpsilon);
EXPECT_NEAR(sum.Radians().to<double>(), wpi::numbers::pi / 2.0, kEpsilon);
EXPECT_NEAR(sum.Degrees().to<double>(), 90.0, kEpsilon);
}

10
wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
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@@ -4,7 +4,7 @@
#include <cmath>
#include <wpi/math>
#include <wpi/numbers>
#include "frc/geometry/Pose2d.h"
#include "gtest/gtest.h"
@@ -23,8 +23,8 @@ TEST(Twist2dTest, Straight) {
}
TEST(Twist2dTest, QuarterCircle) {
const Twist2d quarterCircle{5.0_m / 2.0 * wpi::math::pi, 0_m,
units::radian_t(wpi::math::pi / 2.0)};
const Twist2d quarterCircle{5.0_m / 2.0 * wpi::numbers::pi, 0_m,
units::radian_t(wpi::numbers::pi / 2.0)};
const auto quarterCirclePose = Pose2d().Exp(quarterCircle);
EXPECT_NEAR(quarterCirclePose.X().to<double>(), 5.0, kEpsilon);
@@ -60,7 +60,7 @@ TEST(Twist2dTest, Pose2dLog) {
const auto twist = start.Log(end);
EXPECT_NEAR(twist.dx.to<double>(), 5 / 2.0 * wpi::math::pi, kEpsilon);
EXPECT_NEAR(twist.dx.to<double>(), 5 / 2.0 * wpi::numbers::pi, kEpsilon);
EXPECT_NEAR(twist.dy.to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(twist.dtheta.to<double>(), wpi::math::pi / 2.0, kEpsilon);
EXPECT_NEAR(twist.dtheta.to<double>(), wpi::numbers::pi / 2.0, kEpsilon);
}