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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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6
wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
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@@ -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/geometry/Translation2d.h"
#include "frc/kinematics/MecanumDriveKinematics.h"
@@ -61,7 +61,7 @@ TEST_F(MecanumDriveKinematicsTest, StrafeForwardKinematics) {
TEST_F(MecanumDriveKinematicsTest, RotationInverseKinematics) {
ChassisSpeeds speeds{0_mps, 0_mps,
units::radians_per_second_t(2 * wpi::math::pi)};
units::radians_per_second_t(2 * wpi::numbers::pi)};
auto moduleStates = kinematics.ToWheelSpeeds(speeds);
EXPECT_NEAR(-150.79644737, moduleStates.frontLeft.to<double>(), 0.1);
@@ -77,7 +77,7 @@ TEST_F(MecanumDriveKinematicsTest, RotationForwardKinematics) {
EXPECT_NEAR(0.0, chassisSpeeds.vx.to<double>(), 0.1);
EXPECT_NEAR(0.0, chassisSpeeds.vy.to<double>(), 0.1);
EXPECT_NEAR(2 * wpi::math::pi, chassisSpeeds.omega.to<double>(), 0.1);
EXPECT_NEAR(2 * wpi::numbers::pi, chassisSpeeds.omega.to<double>(), 0.1);
}
TEST_F(MecanumDriveKinematicsTest, MixedRotationTranslationInverseKinematics) {