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[wpimath] Java: add static instantiations of common rotations (#6563)

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C++ doesn't need this because it supports value types, which are much
cheaper to construct. constexpr is also available to make construction
zero-cost.
This commit is contained in:
Tyler Veness
2024-05-03 12:39:35 -07:00
committed by GitHub
parent 9c7120e6bf
commit e172aa66f7
75 changed files with 499 additions and 429 deletions
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6
wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
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@@ -22,9 +22,9 @@ import edu.wpi.first.math.util.Units;
* point toward. This heading reference is profiled for smoothness.
*/
public class HolonomicDriveController {
private Pose2d m_poseError = new Pose2d();
private Rotation2d m_rotationError = new Rotation2d();
private Pose2d m_poseTolerance = new Pose2d();
private Pose2d m_poseError = Pose2d.kZero;
private Rotation2d m_rotationError = Rotation2d.kZero;
private Pose2d m_poseTolerance = Pose2d.kZero;
private boolean m_enabled = true;
private final PIDController m_xController;

4
wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java
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@@ -37,8 +37,8 @@ public class RamseteController {
private final double m_zeta;
private Pose2d m_poseError = new Pose2d();
private Pose2d m_poseTolerance = new Pose2d();
private Pose2d m_poseError = Pose2d.kZero;
private Pose2d m_poseTolerance = Pose2d.kZero;
private boolean m_enabled = true;
/**