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[wpimath] Constrain Rotation2d range to -pi to pi (#4611)

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Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
This commit is contained in:
ohowe
2022-11-14 15:25:15 -07:00
committed by GitHub
parent f656e99245
commit d1d458db2b
7 changed files with 69 additions and 43 deletions
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4
wpilibc/src/main/native/include/frc/interfaces/Gyro.h
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@@ -66,10 +66,6 @@ class Gyro {
/**
* Return the heading of the robot as a Rotation2d.
*
* The angle is continuous, that is it will continue from 360 to 361 degrees.
* This allows algorithms that wouldn't want to see a discontinuity in the
* gyro output as it sweeps past from 360 to 0 on the second time around.
*
* The angle is expected to increase as the gyro turns counterclockwise when
* looked at from the top. It needs to follow the NWU axis convention.
*

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
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@@ -52,10 +52,6 @@ public interface Gyro extends AutoCloseable {
/**
* Return the heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}.
*
* <p>The angle is continuous, that is it will continue from 360 to 361 degrees. This allows
* algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from
* 360 to 0 on the second time around.
*
* <p>The angle is expected to increase as the gyro turns counterclockwise when looked at from the
* top. It needs to follow the NWU axis convention.
*

25
wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
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@@ -19,13 +19,11 @@ import java.util.Objects;
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
public class Rotation2d implements Interpolatable<Rotation2d> {
private final double m_value;
private final double m_cos;
private final double m_sin;
/** Constructs a Rotation2d with a default angle of 0 degrees. */
public Rotation2d() {
m_value = 0.0;
m_cos = 1.0;
m_sin = 0.0;
}
@@ -37,9 +35,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
*/
@JsonCreator
public Rotation2d(@JsonProperty(required = true, value = "radians") double value) {
m_value = value;
m_cos = Math.cos(value);
m_sin = Math.sin(value);
this(Math.cos(value), Math.sin(value));
}
/**
@@ -57,7 +53,6 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
m_sin = 0.0;
m_cos = 1.0;
}
m_value = Math.atan2(m_sin, m_cos);
}
/**
@@ -123,7 +118,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
* @return The inverse of the current rotation.
*/
public Rotation2d unaryMinus() {
return new Rotation2d(-m_value);
return new Rotation2d(m_cos, -m_sin);
}
/**
@@ -133,7 +128,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
* @return The new scaled Rotation2d.
*/
public Rotation2d times(double scalar) {
return new Rotation2d(m_value * scalar);
return new Rotation2d(getRadians() * scalar);
}
/**
@@ -166,22 +161,22 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
}
/**
* Returns the radian value of the Rotation2d.
* Returns the radian value of the Rotation2d within (-pi, pi].
*
* @return The radian value of the Rotation2d.
*/
@JsonProperty
public double getRadians() {
return m_value;
return Math.atan2(m_sin, m_cos);
}
/**
* Returns the degree value of the Rotation2d.
* Returns the degree value of the Rotation2d within (-180, 180].
*
* @return The degree value of the Rotation2d.
*/
public double getDegrees() {
return Math.toDegrees(m_value);
return Math.toDegrees(getRadians());
}
/**
@@ -190,7 +185,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
* @return The number of rotations of the Rotation2d.
*/
public double getRotations() {
return Units.radiansToRotations(m_value);
return Units.radiansToRotations(getRadians());
}
/**
@@ -222,7 +217,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
@Override
public String toString() {
return String.format("Rotation2d(Rads: %.2f, Deg: %.2f)", m_value, Math.toDegrees(m_value));
return String.format("Rotation2d(Rads: %.2f, Deg: %.2f)", getRadians(), getDegrees());
}
/**
@@ -242,7 +237,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
@Override
public int hashCode() {
return Objects.hash(m_value);
return Objects.hash(getRadians());
}
@Override

9
wpimath/src/main/native/include/frc/geometry/Rotation2d.h
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@@ -132,18 +132,18 @@ class WPILIB_DLLEXPORT Rotation2d {
constexpr Rotation2d RotateBy(const Rotation2d& other) const;
/**
* Returns the radian value of the rotation.
* Returns the radian value of the rotation within (-pi, pi].
*
* @return The radian value of the rotation.
*/
constexpr units::radian_t Radians() const { return m_value; }
constexpr units::radian_t Radians() const;
/**
* Returns the degree value of the rotation.
* Returns the degree value of the rotation within (-180, 180].
*
* @return The degree value of the rotation.
*/
constexpr units::degree_t Degrees() const { return m_value; }
constexpr units::degree_t Degrees() const;
/**
* Returns the cosine of the rotation.
@@ -167,7 +167,6 @@ class WPILIB_DLLEXPORT Rotation2d {
constexpr double Tan() const { return Sin() / Cos(); }
private:
units::radian_t m_value = 0_rad;
double m_cos = 1;
double m_sin = 0;
};

26
wpimath/src/main/native/include/frc/geometry/Rotation2d.inc
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@@ -13,11 +13,10 @@
namespace frc {
constexpr Rotation2d::Rotation2d(units::radian_t value)
: m_value(value),
m_cos(std::is_constant_evaluated() ? gcem::cos(value.to<double>())
: std::cos(value.to<double>())),
m_sin(std::is_constant_evaluated() ? gcem::sin(value.to<double>())
: std::sin(value.to<double>())) {}
: Rotation2d(std::is_constant_evaluated() ? gcem::cos(value.to<double>())
: std::cos(value.to<double>()),
std::is_constant_evaluated() ? gcem::sin(value.to<double>())
: std::sin(value.to<double>())) {}
constexpr Rotation2d::Rotation2d(units::degree_t value)
: Rotation2d(units::radian_t{value}) {}
@@ -31,17 +30,14 @@ constexpr Rotation2d::Rotation2d(double x, double y) {
m_sin = 0.0;
m_cos = 1.0;
}
m_value =
units::radian_t{std::is_constant_evaluated() ? gcem::atan2(m_sin, m_cos)
: std::atan2(m_sin, m_cos)};
}
constexpr Rotation2d Rotation2d::operator-() const {
return Rotation2d{-m_value};
return Rotation2d{m_cos, -m_sin};
}
constexpr Rotation2d Rotation2d::operator*(double scalar) const {
return Rotation2d(m_value * scalar);
return Rotation2d(Radians() * scalar);
}
constexpr Rotation2d Rotation2d::operator+(const Rotation2d& other) const {
@@ -71,4 +67,14 @@ constexpr Rotation2d Rotation2d::RotateBy(const Rotation2d& other) const {
Cos() * other.Sin() + Sin() * other.Cos()};
}
constexpr units::radian_t Rotation2d::Radians() const {
return units::radian_t{std::is_constant_evaluated()
? gcem::atan2(m_sin, m_cos)
: std::atan2(m_sin, m_cos)};
}
constexpr units::degree_t Rotation2d::Degrees() const {
return Radians();
}
} // namespace frc

24
wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java
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@@ -13,6 +13,15 @@ import org.junit.jupiter.api.Test;
class Rotation2dTest {
private static final double kEpsilon = 1E-9;
@Test
void testInScope() {
var rot1 = Rotation2d.fromRadians(Math.PI * 5 / 2);
var rot2 = Rotation2d.fromRadians(Math.PI * 7 / 2);
assertEquals(Math.PI / 2, rot1.getRadians(), kEpsilon);
assertEquals(-Math.PI / 2, rot2.getRadians(), kEpsilon);
}
@Test
void testRadiansToDegrees() {
var rot1 = Rotation2d.fromRadians(Math.PI / 3);
@@ -59,6 +68,21 @@ class Rotation2dTest {
assertEquals(40.0, rot1.minus(rot2).getDegrees(), kEpsilon);
}
@Test
void testUnaryMinus() {
var rot = Rotation2d.fromDegrees(20.0);
assertEquals(-20.0, rot.unaryMinus().getDegrees(), kEpsilon);
}
@Test
void testMultiply() {
var rot = Rotation2d.fromDegrees(10.0);
assertEquals(30.0, rot.times(3.0).getDegrees(), kEpsilon);
assertEquals(50.0, rot.times(41.0).getDegrees(), kEpsilon);
}
@Test
void testEquality() {
var rot1 = Rotation2d.fromDegrees(43.0);

20
wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
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@@ -10,6 +10,16 @@
using namespace frc;
TEST(Rotation2dTest, InScope) {
const auto rot1 = Rotation2d{units::radian_t{std::numbers::pi * 5 / 2}};
const auto rot2 = Rotation2d{units::radian_t{std::numbers::pi * 7 / 2}};
const auto rot3 = Rotation2d{270_deg};
EXPECT_DOUBLE_EQ(std::numbers::pi / 2, rot1.Radians().value());
EXPECT_DOUBLE_EQ(-std::numbers::pi / 2, rot2.Radians().value());
EXPECT_DOUBLE_EQ(-90, rot3.Degrees().value());
}
TEST(Rotation2dTest, RadiansToDegrees) {
const Rotation2d rot1{units::radian_t{std::numbers::pi / 3.0}};
const Rotation2d rot2{units::radian_t{std::numbers::pi / 4.0}};
@@ -66,8 +76,8 @@ TEST(Rotation2dTest, Inequality) {
TEST(Rotation2dTest, Constexpr) {
constexpr Rotation2d defaultCtor;
constexpr Rotation2d radianCtor{5_rad};
constexpr Rotation2d degreeCtor{270_deg};
constexpr Rotation2d radianCtor{0.25_rad};
constexpr Rotation2d degreeCtor{-90_deg};
constexpr Rotation2d rotation45{45_deg};
constexpr Rotation2d cartesianCtor{3.5, -3.5};
@@ -76,9 +86,9 @@ TEST(Rotation2dTest, Constexpr) {
constexpr auto subtracted = cartesianCtor - degreeCtor;
static_assert(defaultCtor.Radians() == 0_rad);
static_assert(degreeCtor.Degrees() == 270_deg);
static_assert(negated.Radians() == (-5_rad));
static_assert(multiplied.Radians() == 10_rad);
static_assert(degreeCtor.Degrees() == -90_deg);
static_assert(negated.Radians() == -0.25_rad);
static_assert(multiplied.Radians() == 0.5_rad);
static_assert(subtracted == rotation45);
static_assert(radianCtor != degreeCtor);
}