mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
42993b15c6
The wpimath library is a new library designed to separate the reusable math functionality from the common utility library (wpiutil) and the hardware-dependent library (wpilibc/j). Package names / include file names were NOT changed to minimize breakage. In a future year it would be good to revamp these for a more uniform user experience and to reduce the risk of accidental naming conflicts. While theoretically all of this functionality could be placed into wpiutil, several pieces of this library (e.g. DARE) are very time-consuming to compile, so it's nice to avoid this expense for users who only want cscore or ntcore. It also allows for easy future separation of build tasks vs number of workers on memory-constrained machines. This moves the following functionality from wpiutil into wpimath: - Eigen - ejml - Drake - DARE - wpiutil.math package (Matrix etc) - units And the following functionality from wpilibc/j into wpimath: - Geometry - Kinematics - Spline - Trajectory - LinearFilter - MedianFilter - Feed-forward controllers
111 lines
3.5 KiB
C++
111 lines
3.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/geometry/Pose2d.h"
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#include <cmath>
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#include <wpi/json.h>
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using namespace frc;
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Pose2d::Pose2d(Translation2d translation, Rotation2d rotation)
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: m_translation(translation), m_rotation(rotation) {}
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Pose2d::Pose2d(units::meter_t x, units::meter_t y, Rotation2d rotation)
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: m_translation(x, y), m_rotation(rotation) {}
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Pose2d Pose2d::operator+(const Transform2d& other) const {
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return TransformBy(other);
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}
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Pose2d& Pose2d::operator+=(const Transform2d& other) {
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m_translation += other.Translation().RotateBy(m_rotation);
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m_rotation += other.Rotation();
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return *this;
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}
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Transform2d Pose2d::operator-(const Pose2d& other) const {
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const auto pose = this->RelativeTo(other);
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return Transform2d(pose.Translation(), pose.Rotation());
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}
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bool Pose2d::operator==(const Pose2d& other) const {
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return m_translation == other.m_translation && m_rotation == other.m_rotation;
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}
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bool Pose2d::operator!=(const Pose2d& other) const {
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return !operator==(other);
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}
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Pose2d Pose2d::TransformBy(const Transform2d& other) const {
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return {m_translation + (other.Translation().RotateBy(m_rotation)),
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m_rotation + other.Rotation()};
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}
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Pose2d Pose2d::RelativeTo(const Pose2d& other) const {
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const Transform2d transform{other, *this};
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return {transform.Translation(), transform.Rotation()};
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}
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Pose2d Pose2d::Exp(const Twist2d& twist) const {
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const auto dx = twist.dx;
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const auto dy = twist.dy;
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const auto dtheta = twist.dtheta.to<double>();
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const auto sinTheta = std::sin(dtheta);
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const auto cosTheta = std::cos(dtheta);
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double s, c;
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if (std::abs(dtheta) < 1E-9) {
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s = 1.0 - 1.0 / 6.0 * dtheta * dtheta;
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c = 0.5 * dtheta;
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} else {
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s = sinTheta / dtheta;
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c = (1 - cosTheta) / dtheta;
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}
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const Transform2d transform{Translation2d{dx * s - dy * c, dx * c + dy * s},
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Rotation2d{cosTheta, sinTheta}};
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return *this + transform;
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}
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Twist2d Pose2d::Log(const Pose2d& end) const {
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const auto transform = end.RelativeTo(*this);
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const auto dtheta = transform.Rotation().Radians().to<double>();
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const auto halfDtheta = dtheta / 2.0;
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const auto cosMinusOne = transform.Rotation().Cos() - 1;
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double halfThetaByTanOfHalfDtheta;
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if (std::abs(cosMinusOne) < 1E-9) {
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halfThetaByTanOfHalfDtheta = 1.0 - 1.0 / 12.0 * dtheta * dtheta;
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} else {
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halfThetaByTanOfHalfDtheta =
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-(halfDtheta * transform.Rotation().Sin()) / cosMinusOne;
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}
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const Translation2d translationPart =
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transform.Translation().RotateBy(
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{halfThetaByTanOfHalfDtheta, -halfDtheta}) *
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std::hypot(halfThetaByTanOfHalfDtheta, halfDtheta);
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return {translationPart.X(), translationPart.Y(), units::radian_t(dtheta)};
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}
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void frc::to_json(wpi::json& json, const Pose2d& pose) {
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json = wpi::json{{"translation", pose.Translation()},
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{"rotation", pose.Rotation()}};
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}
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void frc::from_json(const wpi::json& json, Pose2d& pose) {
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pose = Pose2d{json.at("translation").get<Translation2d>(),
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json.at("rotation").get<Rotation2d>()};
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}
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