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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2024-12-29 18:22:39 -08:00
parent 3232630a38 eef1bf33de
commit a931a6554f
139 changed files with 39390 additions and 541 deletions
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7
wpimath/src/main/native/include/frc/geometry/Rotation2d.h
View File

@@ -8,7 +8,6 @@
#include <utility>
#include <Eigen/Core>
#include <Eigen/LU>
#include <gcem.hpp>
#include <wpi/StackTrace.h>
#include <wpi/SymbolExports.h>
@@ -77,7 +76,11 @@ class WPILIB_DLLEXPORT Rotation2d {
if ((R * R.transpose() - Matrix2d::Identity()).norm() > 1e-9) {
throw std::domain_error("Rotation matrix isn't orthogonal");
}
if (gcem::abs(R.determinant() - 1.0) > 1e-9) {
// HACK: Uses ct_matrix instead of <Eigen/LU> for determinant because
// including <Eigen/LU> doubles compilation times on MSVC, even if
// this constructor is unused. MSVC's frontend inefficiently parses
// large headers; GCC and Clang are largely unaffected.
if (gcem::abs(ct_matrix{R}.determinant() - 1.0) > 1e-9) {
throw std::domain_error(
"Rotation matrix is orthogonal but not special orthogonal");
}

7
wpimath/src/main/native/include/frc/geometry/Rotation3d.h
View File

@@ -8,7 +8,6 @@
#include <type_traits>
#include <Eigen/Core>
#include <Eigen/LU>
#include <fmt/format.h>
#include <gcem.hpp>
#include <wpi/SymbolExports.h>
@@ -114,7 +113,11 @@ class WPILIB_DLLEXPORT Rotation3d {
if ((R * R.transpose() - Matrix3d::Identity()).norm() > 1e-9) {
throw std::domain_error("Rotation matrix isn't orthogonal");
}
if (gcem::abs(R.determinant() - 1.0) > 1e-9) {
// HACK: Uses ct_matrix instead of <Eigen/LU> for determinant because
// including <Eigen/LU> doubles compilation times on MSVC, even if
// this constructor is unused. MSVC's frontend inefficiently parses
// large headers; GCC and Clang are largely unaffected.
if (gcem::abs(ct_matrix{R}.determinant() - 1.0) > 1e-9) {
throw std::domain_error(
"Rotation matrix is orthogonal but not special orthogonal");
}