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[wpimath] Rotation2d: Add factory method that uses rotations (#4166)

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Rotation2d.fromRotations(1).equals(new Rotation2d(2 * Math.PI)); // true

Also adds a member method to get the value of the Rotation2d in rotations.
This commit is contained in:
Jonah Snider
2022-04-13 22:31:43 -07:00
committed by GitHub
parent bd80e220b9
commit dd163b62ae
1 changed files with 30 additions and 10 deletions
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40
wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
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@@ -10,6 +10,7 @@ import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.interpolation.Interpolatable;
import edu.wpi.first.math.util.Units;
import java.util.Objects;
/** A rotation in a 2d coordinate frame represented a point on the unit circle (cosine and sine). */
@@ -67,6 +68,16 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
return new Rotation2d(Math.toRadians(degrees));
}
/**
* Constructs and returns a Rotation2d with the given number of rotations.
*
* @param rotations The value of the angle in rotations.
* @return The rotation object with the desired angle value.
*/
public static Rotation2d fromRotations(double rotations) {
return new Rotation2d(Units.rotationsToRadians(rotations));
}
/**
* Adds two rotations together, with the result being bounded between -pi and pi.
*
@@ -133,9 +144,9 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
}
/**
* Returns the radian value of the rotation.
* Returns the radian value of the Rotation2d.
*
* @return The radian value of the rotation.
* @return The radian value of the Rotation2d.
*/
@JsonProperty
public double getRadians() {
@@ -143,36 +154,45 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
}
/**
* Returns the degree value of the rotation.
* Returns the degree value of the Rotation2d.
*
* @return The degree value of the rotation.
* @return The degree value of the Rotation2d.
*/
public double getDegrees() {
return Math.toDegrees(m_value);
}
/**
* Returns the cosine of the rotation.
* Returns the number of rotations of the Rotation2d.
*
* @return The cosine of the rotation.
* @return The number of rotations of the Rotation2d.
*/
public double getRotations() {
return Units.radiansToRotations(m_value);
}
/**
* Returns the cosine of the Rotation2d.
*
* @return The cosine of the Rotation2d.
*/
public double getCos() {
return m_cos;
}
/**
* Returns the sine of the rotation.
* Returns the sine of the Rotation2d.
*
* @return The sine of the rotation.
* @return The sine of the Rotation2d.
*/
public double getSin() {
return m_sin;
}
/**
* Returns the tangent of the rotation.
* Returns the tangent of the Rotation2d.
*
* @return The tangent of the rotation.
* @return The tangent of the Rotation2d.
*/
public double getTan() {
return m_sin / m_cos;