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[wpimath] Minor fixes to Rotation2d docs (NFC) (#4055)

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Fixed incorrect examples on .plus(), and a missing word.

Make example code snippets closer to actual use.
This commit is contained in:
shueja-personal
2022-02-27 16:56:56 -08:00
committed by GitHub
parent d66555e42f
commit dae18308c9
2 changed files with 9 additions and 7 deletions
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6
wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
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@@ -70,7 +70,8 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
/**
* Adds two rotations together, with the result being bounded between -pi and pi.
*
* <p>For example, Rotation2d.fromDegrees(30) + Rotation2d.fromDegrees(60) = Rotation2d{-pi/2}
* <p>For example, <code>Rotation2d.fromDegrees(30).plus(Rotation2d.fromDegrees(60))</code> equals
* <code>Rotation2d.fromRadians(Math.PI/2.0)</code>
*
* @param other The rotation to add.
* @return The sum of the two rotations.
@@ -82,7 +83,8 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
/**
* Subtracts the new rotation from the current rotation and returns the new rotation.
*
* <p>For example, Rotation2d.fromDegrees(10) - Rotation2d.fromDegrees(100) = Rotation2d{-pi/2}
* <p>For example, <code>Rotation2d.fromDegrees(10).minus(Rotation2d.fromDegrees(100))</code>
* equals <code>Rotation2d.fromRadians(-Math.PI/2.0)</code>
*
* @param other The rotation to subtract.
* @return The difference between the two rotations.

10
wpimath/src/main/native/include/frc/geometry/Rotation2d.h
View File

@@ -15,7 +15,7 @@ class json;
namespace frc {
/**
* A rotation in a 2d coordinate frame represented a point on the unit circle
* A rotation in a 2d coordinate frame represented by a point on the unit circle
* (cosine and sine).
*/
class WPILIB_DLLEXPORT Rotation2d {
@@ -52,8 +52,8 @@ class WPILIB_DLLEXPORT Rotation2d {
* Adds two rotations together, with the result being bounded between -pi and
* pi.
*
* For example, Rotation2d.FromDegrees(30) + Rotation2d.FromDegrees(60) =
* Rotation2d{-pi/2}
* For example, <code>Rotation2d{30_deg} + Rotation2d{60_deg}</code> equals
* <code>Rotation2d{units::radian_t{wpi::numbers::pi/2.0}}</code>
*
* @param other The rotation to add.
*
@@ -65,8 +65,8 @@ class WPILIB_DLLEXPORT Rotation2d {
* Subtracts the new rotation from the current rotation and returns the new
* rotation.
*
* For example, Rotation2d.FromDegrees(10) - Rotation2d.FromDegrees(100) =
* Rotation2d{-pi/2}
* For example, <code>Rotation2d{10_deg} - Rotation2d{100_deg}</code> equals
* <code>Rotation2d{units::radian_t{-wpi::numbers::pi/2.0}}</code>
*
* @param other The rotation to subtract.
*