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https://github.com/wpilibsuite/allwpilib
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3a5a376465
This uses std::is_constant_evaluated() to conditionally use the gcem library for constexpr calculations.
39 lines
1.2 KiB
C++
39 lines
1.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/geometry/Translation2d.h"
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#include <wpi/json.h>
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#include "units/math.h"
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using namespace frc;
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units::meter_t Translation2d::Distance(const Translation2d& other) const {
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return units::math::hypot(other.m_x - m_x, other.m_y - m_y);
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}
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units::meter_t Translation2d::Norm() const {
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return units::math::hypot(m_x, m_y);
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}
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bool Translation2d::operator==(const Translation2d& other) const {
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return units::math::abs(m_x - other.m_x) < 1E-9_m &&
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units::math::abs(m_y - other.m_y) < 1E-9_m;
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}
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bool Translation2d::operator!=(const Translation2d& other) const {
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return !operator==(other);
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}
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void frc::to_json(wpi::json& json, const Translation2d& translation) {
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json =
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wpi::json{{"x", translation.X().value()}, {"y", translation.Y().value()}};
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}
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void frc::from_json(const wpi::json& json, Translation2d& translation) {
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translation = Translation2d{units::meter_t{json.at("x").get<double>()},
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units::meter_t{json.at("y").get<double>()}};
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}
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