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[wpimath] Add Translation2d.getAngle() (#4217)

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Co-authored-by: Max Gordon <tonald.drump2.0@gamil.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Max Gordon
2022-05-15 00:22:00 -04:00
committed by GitHub
parent d364bbd5a7
commit a3d44a1e69
3 changed files with 20 additions and 0 deletions
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wpimath/src/main/native/cpp/geometry/Translation2d.cpp
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@@ -24,6 +24,10 @@ units::meter_t Translation2d::Norm() const {
return units::math::hypot(m_x, m_y);
}
Rotation2d Translation2d::Angle() const {
return Rotation2d{m_x.value(), m_y.value()};
}
Translation2d Translation2d::RotateBy(const Rotation2d& other) const {
return {m_x * other.Cos() - m_y * other.Sin(),
m_x * other.Sin() + m_y * other.Cos()};