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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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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;