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[wpimath] Mark all geometry classes as final (#8790)

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In Java, these are likely to become value classes in the future.

Make C++ final for consistency.
This commit is contained in:
Gold856
2026-04-24 01:55:54 -04:00
committed by GitHub
parent 1586dcf385
commit d893d44e37
82 changed files with 84 additions and 82 deletions
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2
wpimath/src/main/java/org/wpilib/math/geometry/CoordinateAxis.java
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@@ -9,7 +9,7 @@ import org.wpilib.math.linalg.Vector;
import org.wpilib.math.numbers.N3;
/** A class representing a coordinate system axis within the NWU coordinate system. */
public class CoordinateAxis {
public final class CoordinateAxis {
private static final CoordinateAxis m_n = new CoordinateAxis(1.0, 0.0, 0.0);
private static final CoordinateAxis m_s = new CoordinateAxis(-1.0, 0.0, 0.0);
private static final CoordinateAxis m_e = new CoordinateAxis(0.0, -1.0, 0.0);

2
wpimath/src/main/java/org/wpilib/math/geometry/CoordinateSystem.java
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@@ -9,7 +9,7 @@ import org.wpilib.math.util.MathSharedStore;
import org.wpilib.math.util.Nat;
/** A helper class that converts Pose3d objects between different standard coordinate frames. */
public class CoordinateSystem {
public final class CoordinateSystem {
private static final CoordinateSystem m_nwu =
new CoordinateSystem(CoordinateAxis.N(), CoordinateAxis.W(), CoordinateAxis.U());
private static final CoordinateSystem m_edn =

2
wpimath/src/main/java/org/wpilib/math/geometry/Ellipse2d.java
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@@ -18,7 +18,7 @@ import org.wpilib.util.protobuf.ProtobufSerializable;
import org.wpilib.util.struct.StructSerializable;
/** Represents a 2d ellipse space containing translational, rotational, and scaling components. */
public class Ellipse2d implements ProtobufSerializable, StructSerializable {
public final class Ellipse2d implements ProtobufSerializable, StructSerializable {
private final Pose2d m_center;
private final double m_xSemiAxis;
private final double m_ySemiAxis;

3
wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java
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@@ -24,7 +24,8 @@ import org.wpilib.util.struct.StructSerializable;
/** Represents a 2D pose containing translational and rotational elements. */
@Json
public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, StructSerializable {
public final class Pose2d
implements Interpolatable<Pose2d>, ProtobufSerializable, StructSerializable {
/**
* A preallocated Pose2d representing the origin.
*

3
wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java
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@@ -24,7 +24,8 @@ import org.wpilib.util.struct.StructSerializable;
/** Represents a 3D pose containing translational and rotational elements. */
@Json
public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, StructSerializable {
public final class Pose3d
implements Interpolatable<Pose3d>, ProtobufSerializable, StructSerializable {
/**
* A preallocated Pose3d representing the origin.
*

2
wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java
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@@ -16,7 +16,7 @@ import org.wpilib.util.struct.StructSerializable;
/** Represents a quaternion. */
@Json
public class Quaternion implements ProtobufSerializable, StructSerializable {
public final class Quaternion implements ProtobufSerializable, StructSerializable {
// Scalar r in versor form
@Json.Ignore private final double m_w;

2
wpimath/src/main/java/org/wpilib/math/geometry/Rectangle2d.java
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@@ -16,7 +16,7 @@ import org.wpilib.util.struct.StructSerializable;
/**
* Represents a 2d rectangular space containing translational, rotational, and scaling components.
*/
public class Rectangle2d implements ProtobufSerializable, StructSerializable {
public final class Rectangle2d implements ProtobufSerializable, StructSerializable {
private final Pose2d m_center;
private final double m_xWidth;
private final double m_yWidth;

2
wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java
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@@ -25,7 +25,7 @@ import org.wpilib.util.struct.StructSerializable;
* A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine).
*/
@Json
public class Rotation2d
public final class Rotation2d
implements Interpolatable<Rotation2d>, ProtobufSerializable, StructSerializable {
/**
* A preallocated Rotation2d representing no rotation.

2
wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java
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@@ -66,7 +66,7 @@ import org.wpilib.util.struct.StructSerializable;
* applying the same series in the opposite order intrinsically.
*/
@Json
public class Rotation3d
public final class Rotation3d
implements Interpolatable<Rotation3d>, ProtobufSerializable, StructSerializable {
/**
* A preallocated Rotation3d representing no rotation.

2
wpimath/src/main/java/org/wpilib/math/geometry/Transform2d.java
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@@ -18,7 +18,7 @@ import org.wpilib.util.protobuf.ProtobufSerializable;
import org.wpilib.util.struct.StructSerializable;
/** Represents a transformation for a Pose2d in the pose's frame. */
public class Transform2d implements ProtobufSerializable, StructSerializable {
public final class Transform2d implements ProtobufSerializable, StructSerializable {
/**
* A preallocated Transform2d representing no transformation.
*

2
wpimath/src/main/java/org/wpilib/math/geometry/Transform3d.java
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@@ -22,7 +22,7 @@ import org.wpilib.util.struct.StructSerializable;
* Represents a transformation for a Pose3d in the pose's frame. Translation is applied before
* rotation. (The translation is applied in the pose's original frame, not the transformed frame.)
*/
public class Transform3d implements ProtobufSerializable, StructSerializable {
public final class Transform3d implements ProtobufSerializable, StructSerializable {
/**
* A preallocated Transform3d representing no transformation.
*

2
wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java
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@@ -29,7 +29,7 @@ import org.wpilib.util.struct.StructSerializable;
* origin facing in the positive X direction, forward is positive X and left is positive Y.
*/
@Json
public class Translation2d
public final class Translation2d
implements Interpolatable<Translation2d>, ProtobufSerializable, StructSerializable {
/**
* A preallocated Translation2d representing the origin.

2
wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java
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@@ -30,7 +30,7 @@ import org.wpilib.util.struct.StructSerializable;
* positive Z.
*/
@Json
public class Translation3d
public final class Translation3d
implements Interpolatable<Translation3d>, ProtobufSerializable, StructSerializable {
/**
* A preallocated Translation3d representing the origin.

2
wpimath/src/main/java/org/wpilib/math/geometry/Twist2d.java
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@@ -16,7 +16,7 @@ import org.wpilib.util.struct.StructSerializable;
*
* <p>A Twist can be used to represent a difference between two poses.
*/
public class Twist2d implements ProtobufSerializable, StructSerializable {
public final class Twist2d implements ProtobufSerializable, StructSerializable {
/** Linear "dx" component. */
public double dx;

2
wpimath/src/main/java/org/wpilib/math/geometry/Twist3d.java
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@@ -17,7 +17,7 @@ import org.wpilib.util.struct.StructSerializable;
*
* <p>A Twist can be used to represent a difference between two poses.
*/
public class Twist3d implements ProtobufSerializable, StructSerializable {
public final class Twist3d implements ProtobufSerializable, StructSerializable {
/** Linear "dx" component. */
public double dx;

2
wpimath/src/main/java/org/wpilib/math/geometry/proto/Ellipse2dProto.java
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@@ -10,7 +10,7 @@ import org.wpilib.math.proto.ProtobufEllipse2d;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class Ellipse2dProto implements Protobuf<Ellipse2d, ProtobufEllipse2d> {
public final class Ellipse2dProto implements Protobuf<Ellipse2d, ProtobufEllipse2d> {
@Override
public Class<Ellipse2d> getTypeClass() {
return Ellipse2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/proto/Pose2dProto.java
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@@ -11,7 +11,7 @@ import org.wpilib.math.proto.ProtobufPose2d;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class Pose2dProto implements Protobuf<Pose2d, ProtobufPose2d> {
public final class Pose2dProto implements Protobuf<Pose2d, ProtobufPose2d> {
@Override
public Class<Pose2d> getTypeClass() {
return Pose2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/proto/Pose3dProto.java
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@@ -11,7 +11,7 @@ import org.wpilib.math.proto.ProtobufPose3d;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class Pose3dProto implements Protobuf<Pose3d, ProtobufPose3d> {
public final class Pose3dProto implements Protobuf<Pose3d, ProtobufPose3d> {
@Override
public Class<Pose3d> getTypeClass() {
return Pose3d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/proto/QuaternionProto.java
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@@ -9,7 +9,7 @@ import org.wpilib.math.proto.ProtobufQuaternion;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class QuaternionProto implements Protobuf<Quaternion, ProtobufQuaternion> {
public final class QuaternionProto implements Protobuf<Quaternion, ProtobufQuaternion> {
@Override
public Class<Quaternion> getTypeClass() {
return Quaternion.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/proto/Rectangle2dProto.java
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@@ -10,7 +10,7 @@ import org.wpilib.math.proto.ProtobufRectangle2d;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class Rectangle2dProto implements Protobuf<Rectangle2d, ProtobufRectangle2d> {
public final class Rectangle2dProto implements Protobuf<Rectangle2d, ProtobufRectangle2d> {
@Override
public Class<Rectangle2d> getTypeClass() {
return Rectangle2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/proto/Rotation2dProto.java
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@@ -9,7 +9,7 @@ import org.wpilib.math.proto.ProtobufRotation2d;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class Rotation2dProto implements Protobuf<Rotation2d, ProtobufRotation2d> {
public final class Rotation2dProto implements Protobuf<Rotation2d, ProtobufRotation2d> {
@Override
public Class<Rotation2d> getTypeClass() {
return Rotation2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/proto/Rotation3dProto.java
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@@ -10,7 +10,7 @@ import org.wpilib.math.proto.ProtobufRotation3d;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class Rotation3dProto implements Protobuf<Rotation3d, ProtobufRotation3d> {
public final class Rotation3dProto implements Protobuf<Rotation3d, ProtobufRotation3d> {
@Override
public Class<Rotation3d> getTypeClass() {
return Rotation3d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/proto/Transform2dProto.java
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@@ -11,7 +11,7 @@ import org.wpilib.math.proto.ProtobufTransform2d;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class Transform2dProto implements Protobuf<Transform2d, ProtobufTransform2d> {
public final class Transform2dProto implements Protobuf<Transform2d, ProtobufTransform2d> {
@Override
public Class<Transform2d> getTypeClass() {
return Transform2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/proto/Transform3dProto.java
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@@ -11,7 +11,7 @@ import org.wpilib.math.proto.ProtobufTransform3d;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class Transform3dProto implements Protobuf<Transform3d, ProtobufTransform3d> {
public final class Transform3dProto implements Protobuf<Transform3d, ProtobufTransform3d> {
@Override
public Class<Transform3d> getTypeClass() {
return Transform3d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/proto/Translation2dProto.java
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@@ -9,7 +9,7 @@ import org.wpilib.math.proto.ProtobufTranslation2d;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class Translation2dProto implements Protobuf<Translation2d, ProtobufTranslation2d> {
public final class Translation2dProto implements Protobuf<Translation2d, ProtobufTranslation2d> {
@Override
public Class<Translation2d> getTypeClass() {
return Translation2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/proto/Translation3dProto.java
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@@ -9,7 +9,7 @@ import org.wpilib.math.proto.ProtobufTranslation3d;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class Translation3dProto implements Protobuf<Translation3d, ProtobufTranslation3d> {
public final class Translation3dProto implements Protobuf<Translation3d, ProtobufTranslation3d> {
@Override
public Class<Translation3d> getTypeClass() {
return Translation3d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/proto/Twist2dProto.java
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@@ -9,7 +9,7 @@ import org.wpilib.math.proto.ProtobufTwist2d;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class Twist2dProto implements Protobuf<Twist2d, ProtobufTwist2d> {
public final class Twist2dProto implements Protobuf<Twist2d, ProtobufTwist2d> {
@Override
public Class<Twist2d> getTypeClass() {
return Twist2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/proto/Twist3dProto.java
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@@ -9,7 +9,7 @@ import org.wpilib.math.proto.ProtobufTwist3d;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class Twist3dProto implements Protobuf<Twist3d, ProtobufTwist3d> {
public final class Twist3dProto implements Protobuf<Twist3d, ProtobufTwist3d> {
@Override
public Class<Twist3d> getTypeClass() {
return Twist3d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/struct/Ellipse2dStruct.java
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@@ -9,7 +9,7 @@ import org.wpilib.math.geometry.Ellipse2d;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.util.struct.Struct;
public class Ellipse2dStruct implements Struct<Ellipse2d> {
public final class Ellipse2dStruct implements Struct<Ellipse2d> {
@Override
public Class<Ellipse2d> getTypeClass() {
return Ellipse2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose2dStruct.java
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@@ -10,7 +10,7 @@ import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.geometry.Translation2d;
import org.wpilib.util.struct.Struct;
public class Pose2dStruct implements Struct<Pose2d> {
public final class Pose2dStruct implements Struct<Pose2d> {
@Override
public Class<Pose2d> getTypeClass() {
return Pose2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose3dStruct.java
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@@ -10,7 +10,7 @@ import org.wpilib.math.geometry.Rotation3d;
import org.wpilib.math.geometry.Translation3d;
import org.wpilib.util.struct.Struct;
public class Pose3dStruct implements Struct<Pose3d> {
public final class Pose3dStruct implements Struct<Pose3d> {
@Override
public Class<Pose3d> getTypeClass() {
return Pose3d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/struct/QuaternionStruct.java
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@@ -8,7 +8,7 @@ import java.nio.ByteBuffer;
import org.wpilib.math.geometry.Quaternion;
import org.wpilib.util.struct.Struct;
public class QuaternionStruct implements Struct<Quaternion> {
public final class QuaternionStruct implements Struct<Quaternion> {
@Override
public Class<Quaternion> getTypeClass() {
return Quaternion.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/struct/Rectangle2dStruct.java
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@@ -9,7 +9,7 @@ import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Rectangle2d;
import org.wpilib.util.struct.Struct;
public class Rectangle2dStruct implements Struct<Rectangle2d> {
public final class Rectangle2dStruct implements Struct<Rectangle2d> {
@Override
public Class<Rectangle2d> getTypeClass() {
return Rectangle2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation2dStruct.java
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@@ -8,7 +8,7 @@ import java.nio.ByteBuffer;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.util.struct.Struct;
public class Rotation2dStruct implements Struct<Rotation2d> {
public final class Rotation2dStruct implements Struct<Rotation2d> {
@Override
public Class<Rotation2d> getTypeClass() {
return Rotation2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation3dStruct.java
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@@ -9,7 +9,7 @@ import org.wpilib.math.geometry.Quaternion;
import org.wpilib.math.geometry.Rotation3d;
import org.wpilib.util.struct.Struct;
public class Rotation3dStruct implements Struct<Rotation3d> {
public final class Rotation3dStruct implements Struct<Rotation3d> {
@Override
public Class<Rotation3d> getTypeClass() {
return Rotation3d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform2dStruct.java
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@@ -10,7 +10,7 @@ import org.wpilib.math.geometry.Transform2d;
import org.wpilib.math.geometry.Translation2d;
import org.wpilib.util.struct.Struct;
public class Transform2dStruct implements Struct<Transform2d> {
public final class Transform2dStruct implements Struct<Transform2d> {
@Override
public Class<Transform2d> getTypeClass() {
return Transform2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform3dStruct.java
View File

@@ -10,7 +10,7 @@ import org.wpilib.math.geometry.Transform3d;
import org.wpilib.math.geometry.Translation3d;
import org.wpilib.util.struct.Struct;
public class Transform3dStruct implements Struct<Transform3d> {
public final class Transform3dStruct implements Struct<Transform3d> {
@Override
public Class<Transform3d> getTypeClass() {
return Transform3d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation2dStruct.java
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@@ -8,7 +8,7 @@ import java.nio.ByteBuffer;
import org.wpilib.math.geometry.Translation2d;
import org.wpilib.util.struct.Struct;
public class Translation2dStruct implements Struct<Translation2d> {
public final class Translation2dStruct implements Struct<Translation2d> {
@Override
public Class<Translation2d> getTypeClass() {
return Translation2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation3dStruct.java
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@@ -8,7 +8,7 @@ import java.nio.ByteBuffer;
import org.wpilib.math.geometry.Translation3d;
import org.wpilib.util.struct.Struct;
public class Translation3dStruct implements Struct<Translation3d> {
public final class Translation3dStruct implements Struct<Translation3d> {
@Override
public Class<Translation3d> getTypeClass() {
return Translation3d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist2dStruct.java
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@@ -8,7 +8,7 @@ import java.nio.ByteBuffer;
import org.wpilib.math.geometry.Twist2d;
import org.wpilib.util.struct.Struct;
public class Twist2dStruct implements Struct<Twist2d> {
public final class Twist2dStruct implements Struct<Twist2d> {
@Override
public Class<Twist2d> getTypeClass() {
return Twist2d.class;

2
wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist3dStruct.java
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@@ -8,7 +8,7 @@ import java.nio.ByteBuffer;
import org.wpilib.math.geometry.Twist3d;
import org.wpilib.util.struct.Struct;
public class Twist3dStruct implements Struct<Twist3d> {
public final class Twist3dStruct implements Struct<Twist3d> {
@Override
public Class<Twist3d> getTypeClass() {
return Twist3d.class;

2
wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
View File

@@ -15,7 +15,7 @@ namespace wpi::math {
* A class representing a coordinate system axis within the NWU coordinate
* system.
*/
class WPILIB_DLLEXPORT CoordinateAxis {
class WPILIB_DLLEXPORT CoordinateAxis final {
public:
/**
* Constructs a coordinate system axis within the NWU coordinate system and

2
wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
View File

@@ -19,7 +19,7 @@ namespace wpi::math {
* A helper class that converts Pose3d objects between different standard
* coordinate frames.
*/
class WPILIB_DLLEXPORT CoordinateSystem {
class WPILIB_DLLEXPORT CoordinateSystem final {
public:
/**
* Constructs a coordinate system with the given cardinal directions for each

2
wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp
View File

@@ -23,7 +23,7 @@ namespace wpi::math {
* Represents a 2d ellipse space containing translational, rotational, and
* scaling components.
*/
class WPILIB_DLLEXPORT Ellipse2d {
class WPILIB_DLLEXPORT Ellipse2d final {
public:
/**
* Constructs an ellipse around a center point and two semi-axes, a horizontal

2
wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp
View File

@@ -27,7 +27,7 @@ class Transform2d;
/**
* Represents a 2D pose containing translational and rotational elements.
*/
class WPILIB_DLLEXPORT Pose2d {
class WPILIB_DLLEXPORT Pose2d final {
public:
/**
* Constructs a pose at the origin facing toward the positive X axis.

2
wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
View File

@@ -28,7 +28,7 @@ class Transform3d;
/**
* Represents a 3D pose containing translational and rotational elements.
*/
class WPILIB_DLLEXPORT Pose3d {
class WPILIB_DLLEXPORT Pose3d final {
public:
/**
* Constructs a pose at the origin facing toward the positive X axis.

2
wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp
View File

@@ -20,7 +20,7 @@ namespace wpi::math {
/**
* Represents a quaternion.
*/
class WPILIB_DLLEXPORT Quaternion {
class WPILIB_DLLEXPORT Quaternion final {
public:
/**
* Constructs a quaternion with a default angle of 0 degrees.

2
wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp
View File

@@ -21,7 +21,7 @@ namespace wpi::math {
* Represents a 2d rectangular space containing translational, rotational, and
* scaling components.
*/
class WPILIB_DLLEXPORT Rectangle2d {
class WPILIB_DLLEXPORT Rectangle2d final {
public:
/**
* Constructs a rectangle at the specified position with the specified width

2
wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp
View File

@@ -26,7 +26,7 @@ namespace wpi::math {
* A rotation in a 2D coordinate frame represented by a point on the unit circle
* (cosine and sine).
*/
class WPILIB_DLLEXPORT Rotation2d {
class WPILIB_DLLEXPORT Rotation2d final {
public:
/**
* Constructs a Rotation2d with a default angle of 0 degrees.

2
wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
View File

@@ -69,7 +69,7 @@ namespace wpi::math {
* neat property is that applying a series of rotations extrinsically is the
* same as applying the same series in the opposite order intrinsically.
*/
class WPILIB_DLLEXPORT Rotation3d {
class WPILIB_DLLEXPORT Rotation3d final {
public:
/**
* Constructs a Rotation3d representing no rotation.

2
wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp
View File

@@ -18,7 +18,7 @@ struct Twist2d;
/**
* Represents a transformation for a Pose2d in the pose's frame.
*/
class WPILIB_DLLEXPORT Transform2d {
class WPILIB_DLLEXPORT Transform2d final {
public:
/**
* Constructs the transform that maps the initial pose to the final pose.

2
wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp
View File

@@ -20,7 +20,7 @@ struct Twist3d;
* applied before rotation. (The translation is applied in the pose's original
* frame, not the transformed frame.)
*/
class WPILIB_DLLEXPORT Transform3d {
class WPILIB_DLLEXPORT Transform3d final {
public:
/**
* Constructs the transform that maps the initial pose to the final pose.

2
wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp
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@@ -30,7 +30,7 @@ namespace wpi::math {
* When the robot is at the origin facing in the positive X direction, forward
* is positive X and left is positive Y.
*/
class WPILIB_DLLEXPORT Translation2d {
class WPILIB_DLLEXPORT Translation2d final {
public:
/**
* Constructs a Translation2d with X and Y components equal to zero.

2
wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp
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@@ -31,7 +31,7 @@ namespace wpi::math {
* robot is at the origin facing in the positive X direction, forward is
* positive X, left is positive Y, and up is positive Z.
*/
class WPILIB_DLLEXPORT Translation3d {
class WPILIB_DLLEXPORT Translation3d final {
public:
/**
* Constructs a Translation3d with X, Y, and Z components equal to zero.

2
wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp
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@@ -20,7 +20,7 @@ class Transform2d;
*
* A Twist can be used to represent a difference between two poses.
*/
struct WPILIB_DLLEXPORT Twist2d {
struct WPILIB_DLLEXPORT Twist2d final {
/**
* Linear "dx" component
*/

2
wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp
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@@ -20,7 +20,7 @@ class Transform3d;
*
* A Twist can be used to represent a difference between two poses.
*/
struct WPILIB_DLLEXPORT Twist3d {
struct WPILIB_DLLEXPORT Twist3d final {
/**
* Linear "dx" component
*/

2
wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp
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@@ -10,7 +10,7 @@
#include "wpimath/protobuf/geometry2d.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Ellipse2d> {
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Ellipse2d> final {
using MessageStruct = wpi_proto_ProtobufEllipse2d;
using InputStream = wpi::util::ProtoInputStream<wpi::math::Ellipse2d>;
using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Ellipse2d>;

2
wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp
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@@ -11,7 +11,7 @@
#include "wpimath/protobuf/geometry2d.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Pose2d> {
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Pose2d> final {
using MessageStruct = wpi_proto_ProtobufPose2d;
using InputStream = wpi::util::ProtoInputStream<wpi::math::Pose2d>;
using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Pose2d>;

2
wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp
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@@ -10,7 +10,7 @@
#include "wpimath/protobuf/geometry3d.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Pose3d> {
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Pose3d> final {
using MessageStruct = wpi_proto_ProtobufPose3d;
using InputStream = wpi::util::ProtoInputStream<wpi::math::Pose3d>;
using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Pose3d>;

2
wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp
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@@ -10,7 +10,7 @@
#include "wpimath/protobuf/geometry3d.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Quaternion> {
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Quaternion> final {
using MessageStruct = wpi_proto_ProtobufQuaternion;
using InputStream = wpi::util::ProtoInputStream<wpi::math::Quaternion>;
using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Quaternion>;

2
wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp
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@@ -10,7 +10,7 @@
#include "wpimath/protobuf/geometry2d.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rectangle2d> {
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rectangle2d> final {
using MessageStruct = wpi_proto_ProtobufRectangle2d;
using InputStream = wpi::util::ProtoInputStream<wpi::math::Rectangle2d>;
using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Rectangle2d>;

2
wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp
View File

@@ -11,7 +11,7 @@
#include "wpimath/protobuf/geometry2d.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rotation2d> {
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rotation2d> final {
using MessageStruct = wpi_proto_ProtobufRotation2d;
using InputStream = wpi::util::ProtoInputStream<wpi::math::Rotation2d>;
using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Rotation2d>;

2
wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp
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@@ -10,7 +10,7 @@
#include "wpimath/protobuf/geometry3d.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rotation3d> {
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rotation3d> final {
using MessageStruct = wpi_proto_ProtobufRotation3d;
using InputStream = wpi::util::ProtoInputStream<wpi::math::Rotation3d>;
using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Rotation3d>;

2
wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp
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@@ -10,7 +10,7 @@
#include "wpimath/protobuf/geometry2d.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Transform2d> {
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Transform2d> final {
using MessageStruct = wpi_proto_ProtobufTransform2d;
using InputStream = wpi::util::ProtoInputStream<wpi::math::Transform2d>;
using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Transform2d>;

2
wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp
View File

@@ -10,7 +10,7 @@
#include "wpimath/protobuf/geometry3d.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Transform3d> {
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Transform3d> final {
using MessageStruct = wpi_proto_ProtobufTransform3d;
using InputStream = wpi::util::ProtoInputStream<wpi::math::Transform3d>;
using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Transform3d>;

2
wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp
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@@ -11,7 +11,7 @@
#include "wpimath/protobuf/geometry2d.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Translation2d> {
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Translation2d> final {
using MessageStruct = wpi_proto_ProtobufTranslation2d;
using InputStream = wpi::util::ProtoInputStream<wpi::math::Translation2d>;
using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Translation2d>;

2
wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp
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@@ -10,7 +10,7 @@
#include "wpimath/protobuf/geometry3d.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Translation3d> {
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Translation3d> final {
using MessageStruct = wpi_proto_ProtobufTranslation3d;
using InputStream = wpi::util::ProtoInputStream<wpi::math::Translation3d>;
using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Translation3d>;

2
wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp
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@@ -10,7 +10,7 @@
#include "wpimath/protobuf/geometry2d.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Twist2d> {
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Twist2d> final {
using MessageStruct = wpi_proto_ProtobufTwist2d;
using InputStream = wpi::util::ProtoInputStream<wpi::math::Twist2d>;
using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Twist2d>;

2
wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp
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@@ -10,7 +10,7 @@
#include "wpimath/protobuf/geometry3d.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Twist3d> {
struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Twist3d> final {
using MessageStruct = wpi_proto_ProtobufTwist3d;
using InputStream = wpi::util::ProtoInputStream<wpi::math::Twist3d>;
using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Twist3d>;

2
wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp
View File

@@ -9,7 +9,7 @@
#include "wpi/util/struct/Struct.hpp"
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Ellipse2d> {
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Ellipse2d> final {
static constexpr std::string_view GetTypeName() { return "Ellipse2d"; }
static constexpr size_t GetSize() {
return wpi::util::GetStructSize<wpi::math::Pose2d>() + 16;

2
wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp
View File

@@ -9,7 +9,7 @@
#include "wpi/util/struct/Struct.hpp"
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Pose2d> {
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Pose2d> final {
static constexpr std::string_view GetTypeName() { return "Pose2d"; }
static constexpr size_t GetSize() {
return wpi::util::GetStructSize<wpi::math::Translation2d>() +

2
wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp
View File

@@ -9,7 +9,7 @@
#include "wpi/util/struct/Struct.hpp"
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Pose3d> {
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Pose3d> final {
static constexpr std::string_view GetTypeName() { return "Pose3d"; }
static constexpr size_t GetSize() {
return wpi::util::GetStructSize<wpi::math::Translation3d>() +

2
wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp
View File

@@ -9,7 +9,7 @@
#include "wpi/util/struct/Struct.hpp"
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Quaternion> {
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Quaternion> final {
static constexpr std::string_view GetTypeName() { return "Quaternion"; }
static constexpr size_t GetSize() { return 32; }
static constexpr std::string_view GetSchema() {

2
wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp
View File

@@ -9,7 +9,7 @@
#include "wpi/util/struct/Struct.hpp"
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rectangle2d> {
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rectangle2d> final {
static constexpr std::string_view GetTypeName() { return "Rectangle2d"; }
static constexpr size_t GetSize() {
return wpi::util::GetStructSize<wpi::math::Pose2d>() + 16;

2
wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp
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@@ -9,7 +9,7 @@
#include "wpi/util/struct/Struct.hpp"
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rotation2d> {
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rotation2d> final {
static constexpr std::string_view GetTypeName() { return "Rotation2d"; }
static constexpr size_t GetSize() { return 8; }
static constexpr std::string_view GetSchema() { return "double value"; }

2
wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp
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@@ -9,7 +9,7 @@
#include "wpi/util/struct/Struct.hpp"
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rotation3d> {
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rotation3d> final {
static constexpr std::string_view GetTypeName() { return "Rotation3d"; }
static constexpr size_t GetSize() {
return wpi::util::GetStructSize<wpi::math::Quaternion>();

2
wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp
View File

@@ -9,7 +9,7 @@
#include "wpi/util/struct/Struct.hpp"
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Transform2d> {
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Transform2d> final {
static constexpr std::string_view GetTypeName() { return "Transform2d"; }
static constexpr size_t GetSize() {
return wpi::util::GetStructSize<wpi::math::Translation2d>() +

2
wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp
View File

@@ -9,7 +9,7 @@
#include "wpi/util/struct/Struct.hpp"
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Transform3d> {
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Transform3d> final {
static constexpr std::string_view GetTypeName() { return "Transform3d"; }
static constexpr size_t GetSize() {
return wpi::util::GetStructSize<wpi::math::Translation3d>() +

2
wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp
View File

@@ -9,7 +9,7 @@
#include "wpi/util/struct/Struct.hpp"
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Translation2d> {
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Translation2d> final {
static constexpr std::string_view GetTypeName() { return "Translation2d"; }
static constexpr size_t GetSize() { return 16; }
static constexpr std::string_view GetSchema() { return "double x;double y"; }

2
wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp
View File

@@ -9,7 +9,7 @@
#include "wpi/util/struct/Struct.hpp"
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Translation3d> {
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Translation3d> final {
static constexpr std::string_view GetTypeName() { return "Translation3d"; }
static constexpr size_t GetSize() { return 24; }
static constexpr std::string_view GetSchema() {

2
wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp
View File

@@ -9,7 +9,7 @@
#include "wpi/util/struct/Struct.hpp"
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Twist2d> {
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Twist2d> final {
static constexpr std::string_view GetTypeName() { return "Twist2d"; }
static constexpr size_t GetSize() { return 24; }
static constexpr std::string_view GetSchema() {

2
wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp
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@@ -9,7 +9,7 @@
#include "wpi/util/struct/Struct.hpp"
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Twist3d> {
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Twist3d> final {
static constexpr std::string_view GetTypeName() { return "Twist3d"; }
static constexpr size_t GetSize() { return 48; }
static constexpr std::string_view GetSchema() {