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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.
45 lines
1.2 KiB
C++
45 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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#pragma once
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#include "frc/geometry/Translation2d.h"
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#include "frc/geometry/Translation3d.h"
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#include "units/length.h"
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#include "units/math.h"
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namespace frc {
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constexpr Translation3d::Translation3d(units::meter_t x, units::meter_t y,
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units::meter_t z)
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: m_x(x), m_y(y), m_z(z) {}
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constexpr Translation2d Translation3d::ToTranslation2d() const {
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return Translation2d{m_x, m_y};
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}
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constexpr Translation3d Translation3d::operator+(
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const Translation3d& other) const {
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return {X() + other.X(), Y() + other.Y(), Z() + other.Z()};
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}
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constexpr Translation3d Translation3d::operator-(
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const Translation3d& other) const {
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return operator+(-other);
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}
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constexpr Translation3d Translation3d::operator-() const {
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return {-m_x, -m_y, -m_z};
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}
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constexpr Translation3d Translation3d::operator*(double scalar) const {
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return {scalar * m_x, scalar * m_y, scalar * m_z};
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}
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constexpr Translation3d Translation3d::operator/(double scalar) const {
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return operator*(1.0 / scalar);
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}
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} // namespace frc
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