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08f298e4cd164ee04cd816c37e0b37f735f89a7c
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38 Commits

Author SHA1 Message Date
nt
08f298e4cd [wpimath] Fix Pose3d log returning Twist3d NaN for theta between 1E-8 and 1E-7 (#5168) 2023-03-13 21:27:32 -07:00
nt
099d048d9e [wpimath] Fix Pose3d log returning Twist3d NaN for theta between 1E-9 and 1E-8 (#5143) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-02-26 16:41:36 -08:00
sciencewhiz
4af84a1c12 Fix Typos (NFC) (#5137) 2023-02-26 15:06:37 -08:00
Jordan McMichael
59be120982 [wpimath] Fix Pose3d exp()/log() and add rotation vector constructor to Rotation3d (#5072) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-02-08 21:31:03 -08:00
Ryan Blue
7b828ce84f [wpimath] Add nearest to Pose2d and Translation2d (#4882) 
Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>
 2023-02-03 15:27:16 -08:00
Tyler Veness
d48a83dee2 [wpimath] Update Wikipedia links for quaternion to Euler angle conversion (NFC) (#4995) 2023-01-21 15:16:35 -08:00
Jordan McMichael
42c997a3c4 [wpimath] Fix Pose3d exponential and clean up Pose3d logarithm (#4970) 
Implementation based on this paper: https://ethaneade.org/lie.pdf
 2023-01-18 20:38:03 -08:00
Sriman Achanta
92149efa11 Spelling and grammar cleanups (#4849) 2022-12-26 11:32:13 -08:00
ohowe
4a0ad6b48c [wpimath] Rotation2d: Add reference to angleModulus in docs (NFC) (#4786) 2022-12-09 23:35:15 -08:00
sciencewhiz
989c9fb29a [wpimath] Revert Rotation2D change that limits angles (#4781) 
Reverts "[wpimath] Constrain Rotation2d range to -pi to pi (#4611)"
This reverts commit d1d458db2b.

This broke multiple teams code in beta. It is also easier to limit the angle externally, then reconstruct a larger angle that got limited. This additionally adds comments to clarify the behavior and retains tests that were added in the reverted commit, and fixes a javadoc comment angle reference.
 2022-12-08 18:10:44 -08:00
Tyler Veness
eae68fc165 [wpimath] Add tolerance for Rotation3d rotation matrix special orthogonality (#4744) 2022-11-30 19:51:31 -08:00
Tyler Veness
2ee3d86de4 [wpimath] Clarify Rotation3d roll-pitch-yaw direction (#4699) 2022-11-23 23:12:59 -08:00
amquake
88f7a3ccb9 [wpimath] Fix Pose relativeTo documentation (#4661) 2022-11-18 14:07:50 -08:00
ohowe
d1d458db2b [wpimath] Constrain Rotation2d range to -pi to pi (#4611) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2022-11-14 14:25:15 -08:00
Griffin Della Grotte
b1b4c1e9e7 [wpimath] Fix Pose3d transformBy rotation type (#4545) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2022-11-07 09:57:33 -08:00
Brennen Puth
b2b473b24a [wpilib] Add AprilTag and AprilTagFieldLayout (#4421) 
This is an API for looking up a Pose3d from a tag id, and includes functionality to load that map from a JSON file.

This also adds JSON support to Pose3d, Rotation3d. Translation3d, and Quaternion.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: AMereBagatelle <themerebagatelle@gmail.com>
 2022-11-04 09:56:22 -07:00
Tyler Veness
16cdc741cf [wpimath] Add Pose3d(Pose2d) constructor (#4485) 2022-10-20 17:23:00 -07:00
Tyler Veness
b53b3526a2 [wpimath] Add CoordinateSystem conversion for Transform3d (#4443) 
I also refactored Pose3d's conversion implementation to use the
Translation3d and Rotation3d conversions, thereby giving Translation3d
and Rotation3d test coverage. No changes were made to the expected
values of the Pose3d conversion tests.

The expected values of the Transform3d conversion tests were copied from
the Pose3d conversion tests without modification.
 2022-10-01 21:09:04 -07:00
Tyler Veness
38bb23eb18 [wpimath] Add scalar multiply and divide operators to all geometry classes (#4438) 
Closes #4435.
 2022-09-28 21:34:29 -07:00
Tyler Veness
a791470de7 Clean up Java warning suppressions (#4433) 
Checkstyle naming conventions were changed to allow most of what's in
wpimath. Naming rules were disabled completely in wpimath since almost
all suppressions are for math notation.
 2022-09-24 00:13:55 -07:00
Tyler Veness
ab1baf4832 [wpimath] Add rotation matrix constructor to Rotation3d (#4413) 2022-09-17 00:17:30 -07:00
Tyler Veness
5149f7d894 [wpimath] Add two-vector Rotation3d constructor (#4398) 
This is useful for turning a 3D vector into an orientation relative a
coordinate system vector.
 2022-09-04 13:16:29 -07:00
Tyler Veness
20b5bed1cb [wpimath] Clean up Java Quaternion class (#4399) 
Vector.norm() and Vector.dot() were added to make the implementation
simpler and match the C++ version more closely.
 2022-09-04 09:45:02 -07:00
Tyler Veness
0d9956273c [wpimath] Add CoordinateSystem.convert() translation and rotation overloads (#4227) 2022-05-18 20:41:15 -07:00
Tyler Veness
5876b40f08 [wpimath] Memoize CoordinateSystem and CoordinateAxis statics (#4241) 2022-05-18 10:47:46 -07:00
Max Gordon
a3d44a1e69 [wpimath] Add Translation2d.getAngle() (#4217) 
Co-authored-by: Max Gordon <tonald.drump2.0@gamil.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2022-05-14 21:22:00 -07:00
Tyler Veness
f341e1b2be [wpimath] Document standard coordinate systems better (NFC) (#4228) 2022-05-14 15:31:06 -07:00
Tyler Veness
b33715db15 [wpimath] Add CoordinateSystem class (#4214) 2022-05-07 10:25:19 -07:00
Tyler Veness
f20a20f3f1 [wpimath] Add 3D geometry classes (#4175) 
Also clean up 2D geometry documentation.
 2022-05-06 08:41:23 -07:00
Starlight220
18ff694f02 [wpimath] Add Rotation2d.fromRadians factory (#4178) 2022-04-30 00:19:29 -07:00
Jonah Snider
dd163b62ae [wpimath] Rotation2d: Add factory method that uses rotations (#4166) 
Rotation2d.fromRotations(1).equals(new Rotation2d(2 * Math.PI)); // true

Also adds a member method to get the value of the Rotation2d in rotations.
 2022-04-13 22:31:43 -07:00
Tyler Veness
b4620f01f9 [wpimath] Fix Rotation2d interpolation in Java (#4125) 
Fixes #4112.
 2022-03-29 08:42:43 -07:00
Tyler Veness
ba0dccaae4 [wpimath] Fix reference to Rotation2d.fromRadians() (#4118) 
Rotation2d.fromRadians() doesn't exist. The constructor should be used
instead.
 2022-03-20 21:57:03 -07:00
shueja-personal
dae18308c9 [wpimath] Minor fixes to Rotation2d docs (NFC) (#4055) 
Fixed incorrect examples on .plus(), and a missing word.

Make example code snippets closer to actual use.
 2022-02-27 16:56:56 -08:00
Matt
315be873c4 [wpimath] Add TimeInterpolatableBuffer (#2695) 
These classes are useful for storing previous robot positions to use in conjunction with the upcoming pose estimators.

Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: cttew <cttewari@gmail.com>
 2021-12-30 19:08:05 -08:00
Tyler Veness
e5fe3a8e16 [build] Treat javadoc warnings as errors in CI and fix warnings (#3530) 2021-08-28 20:48:47 -07:00
Tyler Veness
e0c6cd3dcc [wpimath] Add an operator for composing two Transform2ds (#3527) 2021-08-23 20:22:48 -07:00
Noam Zaks
c8ff626fe2 [wpimath] Move Java classes to edu.wpi.first.math (#3316) 2021-05-01 08:53:30 -07:00