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[wpimath] Fix Pose3d transformBy rotation type (#4545)

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Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
This commit is contained in:
Griffin Della Grotte
2022-11-07 09:57:33 -08:00
committed by GitHub
parent a4054d702f
commit b1b4c1e9e7
6 changed files with 82 additions and 4 deletions
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2
wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
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@@ -145,7 +145,7 @@ public class Pose2d implements Interpolatable<Pose2d> {
public Pose2d transformBy(Transform2d other) {
return new Pose2d(
m_translation.plus(other.getTranslation().rotateBy(m_rotation)),
m_rotation.plus(other.getRotation()));
other.getRotation().plus(m_rotation));
}
/**

2
wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
View File

@@ -165,7 +165,7 @@ public class Pose3d implements Interpolatable<Pose3d> {
public Pose3d transformBy(Transform3d other) {
return new Pose3d(
m_translation.plus(other.getTranslation().rotateBy(m_rotation)),
m_rotation.plus(other.getRotation()));
other.getRotation().plus(m_rotation));
}
/**