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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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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