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[wpimath] Add affine transformation constructors and getters to geometry API (#7430)

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Fixes #7429.
This commit is contained in:
Tyler Veness
2024-12-07 15:49:17 -08:00
committed by GitHub
parent f772bb141d
commit e222efaa01
32 changed files with 615 additions and 27 deletions
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21
wpimath/src/main/native/include/frc/StateSpaceUtil.h
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@@ -206,9 +206,12 @@ Vectord<N> MakeWhiteNoiseVector(const std::array<double, N>& stdDevs) {
* @param pose The pose that is being represented.
*
* @return The vector.
* @deprecated Create the vector manually instead. If you were using this as an
* intermediate step for constructing affine transformations, use
* Pose2d.ToMatrix() instead.
*/
WPILIB_DLLEXPORT
constexpr Eigen::Vector3d PoseTo3dVector(const Pose2d& pose) {
[[deprecated("Use Pose2d.ToMatrix() instead.")]]
WPILIB_DLLEXPORT constexpr Eigen::Vector3d PoseTo3dVector(const Pose2d& pose) {
return Eigen::Vector3d{{pose.Translation().X().value(),
pose.Translation().Y().value(),
pose.Rotation().Radians().value()}};
@@ -220,9 +223,12 @@ constexpr Eigen::Vector3d PoseTo3dVector(const Pose2d& pose) {
* @param pose The pose that is being represented.
*
* @return The vector.
* @deprecated Create the vector manually instead. If you were using this as an
* intermediate step for constructing affine transformations, use
* Pose2d.ToMatrix() instead.
*/
WPILIB_DLLEXPORT
constexpr Eigen::Vector4d PoseTo4dVector(const Pose2d& pose) {
[[deprecated("Use Pose2d.ToMatrix() instead.")]]
WPILIB_DLLEXPORT constexpr Eigen::Vector4d PoseTo4dVector(const Pose2d& pose) {
return Eigen::Vector4d{{pose.Translation().X().value(),
pose.Translation().Y().value(), pose.Rotation().Cos(),
pose.Rotation().Sin()}};
@@ -311,9 +317,12 @@ bool IsDetectable(const Matrixd<States, States>& A,
* @param pose The pose that is being represented.
*
* @return The vector.
* @deprecated Create the vector manually instead. If you were using this as an
* intermediate step for constructing affine transformations, use
* Pose2d.ToMatrix() instead.
*/
WPILIB_DLLEXPORT
constexpr Eigen::Vector3d PoseToVector(const Pose2d& pose) {
[[deprecated("Use Pose2d.ToMatrix() instead.")]]
WPILIB_DLLEXPORT constexpr Eigen::Vector3d PoseToVector(const Pose2d& pose) {
return Eigen::Vector3d{
{pose.X().value(), pose.Y().value(), pose.Rotation().Radians().value()}};
}