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[wpimath] Merge .inc files into headers (#7209)

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Splitting the files didn't help readability or save compilation time and
it confused contributors. Merging them is also in line with how C++
modules will be written.
This commit is contained in:
Tyler Veness
2024-10-14 16:08:10 -07:00
committed by GitHub
parent bedfc09268
commit ee281ea448
55 changed files with 1646 additions and 2531 deletions
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31
wpimath/src/main/native/include/frc/geometry/Pose2d.h
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@@ -6,6 +6,7 @@
#include <initializer_list>
#include <span>
#include <utility>
#include <wpi/SymbolExports.h>
#include <wpi/json_fwd.h>
@@ -14,6 +15,7 @@
#include "frc/geometry/Transform2d.h"
#include "frc/geometry/Translation2d.h"
#include "frc/geometry/Twist2d.h"
#include "units/length.h"
namespace frc {
@@ -33,7 +35,9 @@ class WPILIB_DLLEXPORT Pose2d {
* @param translation The translational component of the pose.
* @param rotation The rotational component of the pose.
*/
constexpr Pose2d(Translation2d translation, Rotation2d rotation);
constexpr Pose2d(Translation2d translation, Rotation2d rotation)
: m_translation{std::move(translation)},
m_rotation{std::move(rotation)} {}
/**
* Constructs a pose with x and y translations instead of a separate
@@ -43,7 +47,8 @@ class WPILIB_DLLEXPORT Pose2d {
* @param y The y component of the translational component of the pose.
* @param rotation The rotational component of the pose.
*/
constexpr Pose2d(units::meter_t x, units::meter_t y, Rotation2d rotation);
constexpr Pose2d(units::meter_t x, units::meter_t y, Rotation2d rotation)
: m_translation{x, y}, m_rotation{std::move(rotation)} {}
/**
* Transforms the pose by the given transformation and returns the new
@@ -59,7 +64,9 @@ class WPILIB_DLLEXPORT Pose2d {
*
* @return The transformed pose.
*/
constexpr Pose2d operator+(const Transform2d& other) const;
constexpr Pose2d operator+(const Transform2d& other) const {
return TransformBy(other);
}
/**
* Returns the Transform2d that maps the one pose to another.
@@ -109,7 +116,9 @@ class WPILIB_DLLEXPORT Pose2d {
*
* @return The new scaled Pose2d.
*/
constexpr Pose2d operator*(double scalar) const;
constexpr Pose2d operator*(double scalar) const {
return Pose2d{m_translation * scalar, m_rotation * scalar};
}
/**
* Divides the current pose by a scalar.
@@ -118,7 +127,9 @@ class WPILIB_DLLEXPORT Pose2d {
*
* @return The new scaled Pose2d.
*/
constexpr Pose2d operator/(double scalar) const;
constexpr Pose2d operator/(double scalar) const {
return *this * (1.0 / scalar);
}
/**
* Rotates the pose around the origin and returns the new pose.
@@ -127,7 +138,9 @@ class WPILIB_DLLEXPORT Pose2d {
*
* @return The rotated pose.
*/
constexpr Pose2d RotateBy(const Rotation2d& other) const;
constexpr Pose2d RotateBy(const Rotation2d& other) const {
return {m_translation.RotateBy(other), m_rotation.RotateBy(other)};
}
/**
* Transforms the pose by the given transformation and returns the new pose.
@@ -137,7 +150,10 @@ class WPILIB_DLLEXPORT Pose2d {
*
* @return The transformed pose.
*/
constexpr Pose2d TransformBy(const Transform2d& other) const;
constexpr Pose2d TransformBy(const Transform2d& other) const {
return {m_translation + (other.Translation().RotateBy(m_rotation)),
other.Rotation() + m_rotation};
}
/**
* Returns the current pose relative to the given pose.
@@ -217,4 +233,3 @@ void from_json(const wpi::json& json, Pose2d& pose);
#include "frc/geometry/proto/Pose2dProto.h"
#endif
#include "frc/geometry/struct/Pose2dStruct.h"
#include "frc/geometry/Pose2d.inc"