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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-01-16 23:17:59 -08:00
parent 1cad4f64a4 a9f3fc6b2c
commit d9f8fded09
92 changed files with 2748 additions and 534 deletions
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13
wpimath/src/main/native/include/frc/geometry/Pose2d.h
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@@ -184,6 +184,19 @@ class WPILIB_DLLEXPORT Pose2d {
*/
constexpr Pose2d RelativeTo(const Pose2d& other) const;
/**
* Rotates the current pose around a point in 2D space.
*
* @param point The point in 2D space to rotate around.
* @param rot The rotation to rotate the pose by.
*
* @return The new rotated pose.
*/
constexpr Pose2d RotateAround(const Translation2d& point,
const Rotation2d& rot) const {
return {m_translation.RotateAround(point, rot), m_rotation.RotateBy(rot)};
}
/**
* Obtain a new Pose2d from a (constant curvature) velocity.
*

13
wpimath/src/main/native/include/frc/geometry/Pose3d.h
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@@ -207,6 +207,19 @@ class WPILIB_DLLEXPORT Pose3d {
*/
constexpr Pose3d RelativeTo(const Pose3d& other) const;
/**
* Rotates the current pose around a point in 3D space.
*
* @param point The point in 3D space to rotate around.
* @param rot The rotation to rotate the pose by.
*
* @return The new rotated pose.
*/
constexpr Pose3d RotateAround(const Translation3d& point,
const Rotation3d& rot) const {
return {m_translation.RotateAround(point, rot), m_rotation.RotateBy(rot)};
}
/**
* Obtain a new Pose3d from a (constant curvature) velocity.
*

4
wpimath/src/main/native/include/frc/geometry/Rotation2d.h
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@@ -49,11 +49,11 @@ class WPILIB_DLLEXPORT Rotation2d {
constexpr Rotation2d(double x, double y) {
double magnitude = gcem::hypot(x, y);
if (magnitude > 1e-6) {
m_sin = y / magnitude;
m_cos = x / magnitude;
m_sin = y / magnitude;
} else {
m_sin = 0.0;
m_cos = 1.0;
m_sin = 0.0;
if (!std::is_constant_evaluated()) {
wpi::math::MathSharedStore::ReportError(
"x and y components of Rotation2d are zero\n{}",

12
wpimath/src/main/native/include/frc/geometry/Translation3d.h
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@@ -148,6 +148,18 @@ class WPILIB_DLLEXPORT Translation3d {
units::meter_t{qprime.Z()}};
}
/**
* Rotates this translation around another translation in 3D space.
*
* @param other The other translation to rotate around.
* @param rot The rotation to rotate the translation by.
* @return The new rotated translation.
*/
constexpr Translation3d RotateAround(const Translation3d& other,
const Rotation3d& rot) const {
return (*this - other).RotateBy(rot) + other;
}
/**
* Returns a Translation2d representing this Translation3d projected into the
* X-Y plane.