From dfd10845260c32fd5f637e4e5698e21a3b057899 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Fri, 1 Nov 2024 17:16:18 -0700 Subject: [PATCH] [wpimath] Replace pi with symbol in docs (#7322) --- wpimath/src/main/java/edu/wpi/first/math/MathUtil.java | 2 +- .../main/java/edu/wpi/first/math/filter/LinearFilter.java | 4 ++-- .../main/java/edu/wpi/first/math/geometry/Rotation2d.java | 4 ++-- wpimath/src/main/native/include/frc/MathUtil.h | 2 +- wpimath/src/main/native/include/frc/filter/LinearFilter.h | 4 ++-- wpimath/src/main/native/include/frc/geometry/Rotation2d.h | 6 +++--- 6 files changed, 11 insertions(+), 11 deletions(-) diff --git a/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java b/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java index 044cddfab6..5bf89d7e81 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java +++ b/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java @@ -126,7 +126,7 @@ public final class MathUtil { } /** - * Wraps an angle to the range -pi to pi radians. + * Wraps an angle to the range -π to π radians. * * @param angleRadians Angle to wrap in radians. * @return The wrapped angle. diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java b/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java index 4af3da002c..4a5add4f15 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java +++ b/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java @@ -80,7 +80,7 @@ public class LinearFilter { * Creates a one-pole IIR low-pass filter of the form: y[n] = (1-gain) x[n] + gain y[n-1] where * gain = e-dt / T, T is the time constant in seconds. * - *

Note: T = 1 / (2 pi f) where f is the cutoff frequency in Hz, the frequency above which the + *

Note: T = 1 / (2πf) where f is the cutoff frequency in Hz, the frequency above which the * input starts to attenuate. * *

This filter is stable for time constants greater than zero. @@ -101,7 +101,7 @@ public class LinearFilter { * Creates a first-order high-pass filter of the form: y[n] = gain x[n] + (-gain) x[n-1] + gain * y[n-1] where gain = e-dt / T, T is the time constant in seconds. * - *

Note: T = 1 / (2 pi f) where f is the cutoff frequency in Hz, the frequency below which the + *

Note: T = 1 / (2πf) where f is the cutoff frequency in Hz, the frequency below which the * input starts to attenuate. * *

This filter is stable for time constants greater than zero. diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java index 3eeac17a8f..49cf4c3c7d 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java @@ -164,7 +164,7 @@ public class Rotation2d } /** - * Adds two rotations together, with the result being bounded between -pi and pi. + * Adds two rotations together, with the result being bounded between -π and π. * *

For example, Rotation2d.fromDegrees(30).plus(Rotation2d.fromDegrees(60)) equals * Rotation2d(Math.PI/2.0) @@ -251,7 +251,7 @@ public class Rotation2d * Returns the radian value of the Rotation2d. * * @return The radian value of the Rotation2d. - * @see edu.wpi.first.math.MathUtil#angleModulus(double) to constrain the angle within (-pi, pi] + * @see edu.wpi.first.math.MathUtil#angleModulus(double) to constrain the angle within (-π, π] */ @JsonProperty public double getRadians() { diff --git a/wpimath/src/main/native/include/frc/MathUtil.h b/wpimath/src/main/native/include/frc/MathUtil.h index 9bb70a0a5f..a0447ee2a1 100644 --- a/wpimath/src/main/native/include/frc/MathUtil.h +++ b/wpimath/src/main/native/include/frc/MathUtil.h @@ -159,7 +159,7 @@ constexpr bool IsNear(T expected, T actual, T tolerance, T min, T max) { } /** - * Wraps an angle to the range -pi to pi radians (-180 to 180 degrees). + * Wraps an angle to the range -π to π radians (-180 to 180 degrees). * * @param angle Angle to wrap. */ diff --git a/wpimath/src/main/native/include/frc/filter/LinearFilter.h b/wpimath/src/main/native/include/frc/filter/LinearFilter.h index 0d21b7a9f6..d51abf2bbf 100644 --- a/wpimath/src/main/native/include/frc/filter/LinearFilter.h +++ b/wpimath/src/main/native/include/frc/filter/LinearFilter.h @@ -118,7 +118,7 @@ class LinearFilter { * y[n] = (1 - gain) x[n] + gain y[n-1]
* where gain = e-dt / T, T is the time constant in seconds * - * Note: T = 1 / (2 pi f) where f is the cutoff frequency in Hz, the frequency + * Note: T = 1 / (2πf) where f is the cutoff frequency in Hz, the frequency * above which the input starts to attenuate. * * This filter is stable for time constants greater than zero. @@ -138,7 +138,7 @@ class LinearFilter { * y[n] = gain x[n] + (-gain) x[n-1] + gain y[n-1]
* where gain = e-dt / T, T is the time constant in seconds * - * Note: T = 1 / (2 pi f) where f is the cutoff frequency in Hz, the frequency + * Note: T = 1 / (2πf) where f is the cutoff frequency in Hz, the frequency * below which the input starts to attenuate. * * This filter is stable for time constants greater than zero. diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h index d35dc8330c..f58684809c 100644 --- a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h +++ b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h @@ -67,8 +67,8 @@ class WPILIB_DLLEXPORT Rotation2d { } /** - * Adds two rotations together, with the result being bounded between -pi and - * pi. + * Adds two rotations together, with the result being bounded between -π and + * π. * * For example, Rotation2d{30_deg} + Rotation2d{60_deg} equals * Rotation2d{units::radian_t{std::numbers::pi/2.0}} @@ -158,7 +158,7 @@ class WPILIB_DLLEXPORT Rotation2d { * Returns the radian value of the rotation. * * @return The radian value of the rotation. - * @see AngleModulus to constrain the angle within (-pi, pi] + * @see AngleModulus to constrain the angle within (-π, π] */ constexpr units::radian_t Radians() const { return m_value; }