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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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12
wpimath/src/main/native/include/frc/geometry/Translation2d.h
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@@ -54,13 +54,13 @@ class WPILIB_DLLEXPORT Translation2d {
: m_x{distance * angle.Cos()}, m_y{distance * angle.Sin()} {}
/**
* Constructs a Translation2d from the provided translation vector's X and Y
* components. The values are assumed to be in meters.
* Constructs a Translation2d from a 2D translation vector. The values are
* assumed to be in meters.
*
* @param vector The translation vector to represent.
* @param vector The translation vector.
*/
constexpr explicit Translation2d(const Eigen::Vector2d& vector)
: m_x{units::meter_t{vector(0)}}, m_y{units::meter_t{vector(1)}} {}
: m_x{units::meter_t{vector.x()}}, m_y{units::meter_t{vector.y()}} {}
/**
* Calculates the distance between two translations in 2D space.
@@ -90,9 +90,9 @@ class WPILIB_DLLEXPORT Translation2d {
constexpr units::meter_t Y() const { return m_y; }
/**
* Returns a vector representation of this translation.
* Returns a 2D translation vector representation of this translation.
*
* @return A Vector representation of this translation.
* @return A 2D translation vector representation of this translation.
*/
constexpr Eigen::Vector2d ToVector() const {
return Eigen::Vector2d{{m_x.value(), m_y.value()}};