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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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55
wpimath/src/main/native/include/frc/geometry/Rotation2d.h
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@@ -4,10 +4,15 @@
#pragma once
#include <type_traits>
#include <gcem.hpp>
#include <wpi/StackTrace.h>
#include <wpi/SymbolExports.h>
#include <wpi/json_fwd.h>
#include "units/angle.h"
#include "wpimath/MathShared.h"
namespace frc {
@@ -32,7 +37,10 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @param value The value of the angle.
*/
constexpr Rotation2d(units::angle_unit auto value); // NOLINT
constexpr Rotation2d(units::angle_unit auto value) // NOLINT
: m_value{value},
m_cos{gcem::cos(value.template convert<units::radian>().value())},
m_sin{gcem::sin(value.template convert<units::radian>().value())} {}
/**
* Constructs a Rotation2d with the given x and y (cosine and sine)
@@ -41,7 +49,22 @@ class WPILIB_DLLEXPORT Rotation2d {
* @param x The x component or cosine of the rotation.
* @param y The y component or sine of the rotation.
*/
constexpr Rotation2d(double x, double y);
constexpr Rotation2d(double x, double y) {
double magnitude = gcem::hypot(x, y);
if (magnitude > 1e-6) {
m_sin = y / magnitude;
m_cos = x / magnitude;
} else {
m_sin = 0.0;
m_cos = 1.0;
if (!std::is_constant_evaluated()) {
wpi::math::MathSharedStore::ReportError(
"x and y components of Rotation2d are zero\n{}",
wpi::GetStackTrace(1));
}
}
m_value = units::radian_t{gcem::atan2(m_sin, m_cos)};
}
/**
* Adds two rotations together, with the result being bounded between -pi and
@@ -54,7 +77,9 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @return The sum of the two rotations.
*/
constexpr Rotation2d operator+(const Rotation2d& other) const;
constexpr Rotation2d operator+(const Rotation2d& other) const {
return RotateBy(other);
}
/**
* Subtracts the new rotation from the current rotation and returns the new
@@ -67,7 +92,9 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @return The difference between the two rotations.
*/
constexpr Rotation2d operator-(const Rotation2d& other) const;
constexpr Rotation2d operator-(const Rotation2d& other) const {
return *this + -other;
}
/**
* Takes the inverse of the current rotation. This is simply the negative of
@@ -75,7 +102,7 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @return The inverse of the current rotation.
*/
constexpr Rotation2d operator-() const;
constexpr Rotation2d operator-() const { return Rotation2d{-m_value}; }
/**
* Multiplies the current rotation by a scalar.
@@ -84,7 +111,9 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @return The new scaled Rotation2d.
*/
constexpr Rotation2d operator*(double scalar) const;
constexpr Rotation2d operator*(double scalar) const {
return Rotation2d{m_value * scalar};
}
/**
* Divides the current rotation by a scalar.
@@ -93,7 +122,9 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @return The new scaled Rotation2d.
*/
constexpr Rotation2d operator/(double scalar) const;
constexpr Rotation2d operator/(double scalar) const {
return *this * (1.0 / scalar);
}
/**
* Checks equality between this Rotation2d and another object.
@@ -101,7 +132,9 @@ class WPILIB_DLLEXPORT Rotation2d {
* @param other The other object.
* @return Whether the two objects are equal.
*/
constexpr bool operator==(const Rotation2d& other) const;
constexpr bool operator==(const Rotation2d& other) const {
return gcem::hypot(Cos() - other.Cos(), Sin() - other.Sin()) < 1E-9;
}
/**
* Adds the new rotation to the current rotation using a rotation matrix.
@@ -116,7 +149,10 @@ class WPILIB_DLLEXPORT Rotation2d {
*
* @return The new rotated Rotation2d.
*/
constexpr Rotation2d RotateBy(const Rotation2d& other) const;
constexpr Rotation2d RotateBy(const Rotation2d& other) const {
return {Cos() * other.Cos() - Sin() * other.Sin(),
Cos() * other.Sin() + Sin() * other.Cos()};
}
/**
* Returns the radian value of the rotation.
@@ -173,4 +209,3 @@ void from_json(const wpi::json& json, Rotation2d& rotation);
#include "frc/geometry/proto/Rotation2dProto.h"
#endif
#include "frc/geometry/struct/Rotation2dStruct.h"
#include "frc/geometry/Rotation2d.inc"