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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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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: