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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.
51 lines
1.4 KiB
C++
51 lines
1.4 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 "units/length.h"
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namespace frc {
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constexpr Translation2d::Translation2d(units::meter_t x, units::meter_t y)
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: m_x(x), m_y(y) {}
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constexpr Translation2d::Translation2d(units::meter_t distance,
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const Rotation2d& angle)
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: m_x(distance * angle.Cos()), m_y(distance * angle.Sin()) {}
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constexpr Rotation2d Translation2d::Angle() const {
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return Rotation2d{m_x.value(), m_y.value()};
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}
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constexpr Translation2d Translation2d::RotateBy(const Rotation2d& other) const {
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return {m_x * other.Cos() - m_y * other.Sin(),
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m_x * other.Sin() + m_y * other.Cos()};
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}
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constexpr Translation2d Translation2d::operator+(
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const Translation2d& other) const {
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return {X() + other.X(), Y() + other.Y()};
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}
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constexpr Translation2d Translation2d::operator-(
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const Translation2d& other) const {
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return *this + -other;
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}
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constexpr Translation2d Translation2d::operator-() const {
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return {-m_x, -m_y};
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}
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constexpr Translation2d Translation2d::operator*(double scalar) const {
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return {scalar * m_x, scalar * m_y};
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}
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constexpr Translation2d Translation2d::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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