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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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2
wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
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@@ -8,7 +8,7 @@
using namespace frc;
Translation2d Ellipse2d::FindNearestPoint(const Translation2d& point) const {
Translation2d Ellipse2d::Nearest(const Translation2d& point) const {
// Check if already in ellipse
if (Contains(point)) {
return point;

6
wpimath/src/main/native/cpp/jni/Ellipse2dJNI.cpp
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@@ -16,11 +16,11 @@ extern "C" {
/*
* Class: edu_wpi_first_math_jni_Ellipse2dJNI
* Method: findNearestPoint
* Method: nearest
* Signature: (DDDDDDD[D)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_math_jni_Ellipse2dJNI_findNearestPoint
Java_edu_wpi_first_math_jni_Ellipse2dJNI_nearest
(JNIEnv* env, jclass, jdouble centerX, jdouble centerY, jdouble centerHeading,
jdouble xSemiAxis, jdouble ySemiAxis, jdouble pointX, jdouble pointY,
jdoubleArray nearestPoint)
@@ -30,7 +30,7 @@ Java_edu_wpi_first_math_jni_Ellipse2dJNI_findNearestPoint
frc::Pose2d{units::meter_t{centerX}, units::meter_t{centerY},
units::radian_t{centerHeading}},
units::meter_t{xSemiAxis}, units::meter_t{ySemiAxis}}
.FindNearestPoint({units::meter_t{pointX}, units::meter_t{pointY}});
.Nearest({units::meter_t{pointX}, units::meter_t{pointY}});
wpi::array buf{point.X().value(), point.Y().value()};
env->SetDoubleArrayRegion(nearestPoint, 0, 2, buf.data());