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Merge branch 'main' into 2027

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This commit is contained in:
Thad House
2024-12-08 12:04:23 -08:00
parent f1e4eafaa0 d5edb4060d
commit b6ae9e9cc9
22 changed files with 1014 additions and 116 deletions
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6
wpimath/src/main/java/edu/wpi/first/math/geometry/Ellipse2d.java
View File

@@ -199,7 +199,7 @@ public class Ellipse2d implements ProtobufSerializable, StructSerializable {
* @return The distance (0, if the point is contained by the ellipse)
*/
public double getDistance(Translation2d point) {
return findNearestPoint(point).getDistance(point);
return nearest(point).getDistance(point);
}
/**
@@ -218,7 +218,7 @@ public class Ellipse2d implements ProtobufSerializable, StructSerializable {
* @param point The point that this will find the nearest point to.
* @return A new point that is nearest to {@code point} and contained in the ellipse.
*/
public Translation2d findNearestPoint(Translation2d point) {
public Translation2d nearest(Translation2d point) {
// Check if already in ellipse
if (contains(point)) {
return point;
@@ -226,7 +226,7 @@ public class Ellipse2d implements ProtobufSerializable, StructSerializable {
// Find nearest point
var nearestPoint = new double[2];
Ellipse2dJNI.findNearestPoint(
Ellipse2dJNI.nearest(
m_center.getX(),
m_center.getY(),
m_center.getRotation().getRadians(),

4
wpimath/src/main/java/edu/wpi/first/math/geometry/Rectangle2d.java
View File

@@ -186,7 +186,7 @@ public class Rectangle2d implements ProtobufSerializable, StructSerializable {
* @return The distance (0, if the point is contained by the rectangle)
*/
public double getDistance(Translation2d point) {
return findNearestPoint(point).getDistance(point);
return nearest(point).getDistance(point);
}
/**
@@ -205,7 +205,7 @@ public class Rectangle2d implements ProtobufSerializable, StructSerializable {
* @param point The point that this will find the nearest point to.
* @return A new point that is nearest to {@code point} and contained in the rectangle.
*/
public Translation2d findNearestPoint(Translation2d point) {
public Translation2d nearest(Translation2d point) {
// Check if already in rectangle
if (contains(point)) {
return point;

4
wpimath/src/main/java/edu/wpi/first/math/jni/Ellipse2dJNI.java
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@@ -9,7 +9,7 @@ public final class Ellipse2dJNI extends WPIMathJNI {
/**
* Returns the nearest point that is contained within the ellipse.
*
* <p>Constructs an Ellipse2d object and runs its FindNearestPoint() method.
* <p>Constructs an Ellipse2d object and runs its nearest() method.
*
* @param centerX The x coordinate of the center of the ellipse in meters.
* @param centerY The y coordinate of the center of the ellipse in meters.
@@ -20,7 +20,7 @@ public final class Ellipse2dJNI extends WPIMathJNI {
* @param pointY The y coordinate of the point that this will find the nearest point to.
* @param nearestPoint Array to store nearest point into.
*/
public static native void findNearestPoint(
public static native void nearest(
double centerX,
double centerY,
double centerHeading,