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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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19
wpimath/src/main/native/include/frc/ct_matrix.h
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@@ -308,6 +308,23 @@ class ct_matrix {
(*this)(0) * rhs(1) - rhs(0) * (*this)(1)}};
}
/**
* Constexpr version of Eigen's 2x2 matrix determinant member function.
*
* @return Determinant of matrix.
*/
constexpr Scalar determinant() const
requires(Rows == 2 && Cols == 2)
{
// |a b|
// |c d| = ad - bc
Scalar a = (*this)(0, 0);
Scalar b = (*this)(0, 1);
Scalar c = (*this)(1, 0);
Scalar d = (*this)(1, 1);
return a * d - b * c;
}
/**
* Constexpr version of Eigen's 3x3 matrix determinant member function.
*
@@ -364,7 +381,9 @@ using ct_vector = ct_matrix<Scalar, Rows, 1>;
template <typename Scalar, int Cols>
using ct_row_vector = ct_matrix<Scalar, 1, Cols>;
using ct_matrix2d = ct_matrix<double, 2, 2>;
using ct_matrix3d = ct_matrix<double, 3, 3>;
using ct_vector2d = ct_vector<double, 2>;
using ct_vector3d = ct_vector<double, 3>;
} // namespace frc