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[wpimath] Replace constexpr coeff() and coeffRef() with operator() (#7391)

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This commit is contained in:
Tyler Veness
2024-11-16 07:44:20 -08:00
committed by GitHub
parent ca51197486
commit aa7dd258c4
74 changed files with 1953 additions and 1329 deletions
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10
wpimath/src/main/native/include/frc/geometry/CoordinateSystem.h
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@@ -35,12 +35,10 @@ class WPILIB_DLLEXPORT CoordinateSystem {
// the NWU coordinate system. Each column vector in the change of basis
// matrix is one of the old basis vectors mapped to its representation in
// the new basis.
Eigen::Matrix3d R{{positiveX.m_axis.coeff(0), positiveY.m_axis.coeff(0),
positiveZ.m_axis.coeff(0)},
{positiveX.m_axis.coeff(1), positiveY.m_axis.coeff(1),
positiveZ.m_axis.coeff(1)},
{positiveX.m_axis.coeff(2), positiveY.m_axis.coeff(2),
positiveZ.m_axis.coeff(2)}};
Eigen::Matrix3d R{
{positiveX.m_axis(0), positiveY.m_axis(0), positiveZ.m_axis(0)},
{positiveX.m_axis(1), positiveY.m_axis(1), positiveZ.m_axis(1)},
{positiveX.m_axis(2), positiveY.m_axis(2), positiveZ.m_axis(2)}};
// The change of basis matrix should be a pure rotation. The Rotation3d
// constructor will verify this by checking for special orthogonality.

6
wpimath/src/main/native/include/frc/geometry/Pose3d.h
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@@ -281,9 +281,9 @@ constexpr Eigen::Matrix3d RotationVectorToMatrix(
// [ 0 -c b]
// Omega = [ c 0 -a]
// [-b a 0]
return Eigen::Matrix3d{{0.0, -rotation.coeff(2), rotation.coeff(1)},
{rotation.coeff(2), 0.0, -rotation.coeff(0)},
{-rotation.coeff(1), rotation.coeff(0), 0.0}};
return Eigen::Matrix3d{{0.0, -rotation(2), rotation(1)},
{rotation(2), 0.0, -rotation(0)},
{-rotation(1), rotation(0), 0.0}};
}
} // namespace detail

7
wpimath/src/main/native/include/frc/geometry/Quaternion.h
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@@ -299,7 +299,7 @@ class WPILIB_DLLEXPORT Quaternion {
// 𝑞 = std::cos(θ/2) + std::sin(θ/2) * v̂
// 𝑞 = std::cos(θ/2) + std::sin(θ/2) / θ * 𝑣⃗
double theta = gcem::hypot(rvec.coeff(0), rvec.coeff(1), rvec.coeff(2));
double theta = gcem::hypot(rvec(0), rvec(1), rvec(2));
double cos = gcem::cos(theta / 2);
double axial_scalar;
@@ -312,9 +312,8 @@ class WPILIB_DLLEXPORT Quaternion {
axial_scalar = gcem::sin(theta / 2) / theta;
}
return Quaternion{cos, axial_scalar * rvec.coeff(0),
axial_scalar * rvec.coeff(1),
axial_scalar * rvec.coeff(2)};
return Quaternion{cos, axial_scalar * rvec(0), axial_scalar * rvec(1),
axial_scalar * rvec(2)};
}
private:

15
wpimath/src/main/native/include/frc/geometry/Rotation3d.h
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@@ -85,11 +85,10 @@ class WPILIB_DLLEXPORT Rotation3d {
}
// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Definition
Eigen::Vector3d v{{axis.coeff(0) / norm * units::math::sin(angle / 2.0),
axis.coeff(1) / norm * units::math::sin(angle / 2.0),
axis.coeff(2) / norm * units::math::sin(angle / 2.0)}};
m_q = Quaternion{units::math::cos(angle / 2.0), v.coeff(0), v.coeff(1),
v.coeff(2)};
Eigen::Vector3d v{{axis(0) / norm * units::math::sin(angle / 2.0),
axis(1) / norm * units::math::sin(angle / 2.0),
axis(2) / norm * units::math::sin(angle / 2.0)}};
m_q = Quaternion{units::math::cos(angle / 2.0), v(0), v(1), v(2)};
}
/**
@@ -191,9 +190,9 @@ class WPILIB_DLLEXPORT Rotation3d {
// rotation is required. Any other vector can be used to generate an
// orthogonal one.
double x = gcem::abs(initial.coeff(0));
double y = gcem::abs(initial.coeff(1));
double z = gcem::abs(initial.coeff(2));
double x = gcem::abs(initial(0));
double y = gcem::abs(initial(1));
double z = gcem::abs(initial(2));
// Find vector that is most orthogonal to initial vector
Eigen::Vector3d other;

3
wpimath/src/main/native/include/frc/geometry/Translation2d.h
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@@ -60,8 +60,7 @@ class WPILIB_DLLEXPORT Translation2d {
* @param vector The translation vector to represent.
*/
constexpr explicit Translation2d(const Eigen::Vector2d& vector)
: m_x{units::meter_t{vector.coeff(0)}},
m_y{units::meter_t{vector.coeff(1)}} {}
: m_x{units::meter_t{vector(0)}}, m_y{units::meter_t{vector(1)}} {}
/**
* Calculates the distance between two translations in 2D space.