Merge pull request #120 from robotpy/geom-from-matrix

virtuald · web-flow · commit 1d6c7eef99f0 · 2024-12-31T15:30:10.000-05:00
Rename geometry from matrix constructor overloads
diff --git a/rdev.toml b/rdev.toml
@@ -13,7 +13,7 @@ exclude_artifacts = [
     "opencv-cpp"
 ]
 
-robotpy_build_req = "<2025.0.0b1,~=2025.0.0a6"
+robotpy_build_req = "<2025.0.0b1,~=2025.0.0a8"
 
 #
 # Subproject configuration
diff --git a/subprojects/pyntcore/pyproject.toml b/subprojects/pyntcore/pyproject.toml
@@ -12,7 +12,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0b1,~=2025.0.0a6",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a8",
     "robotpy-wpiutil~=2025.0.0b3",
     "robotpy-wpinet~=2025.0.0b3",
 ]
diff --git a/subprojects/robotpy-apriltag/pyproject.toml b/subprojects/robotpy-apriltag/pyproject.toml
@@ -12,7 +12,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0b1,~=2025.0.0a6",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a8",
     "robotpy-wpiutil~=2025.0.0b3",
     "robotpy-wpimath~=2025.0.0b3",
 ]
diff --git a/subprojects/robotpy-cscore/pyproject.toml b/subprojects/robotpy-cscore/pyproject.toml
@@ -13,7 +13,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0b1,~=2025.0.0a6",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a8",
     "robotpy-wpiutil~=2025.0.0b3",
     "robotpy-wpinet~=2025.0.0b3",
     "pyntcore~=2025.0.0b3",
diff --git a/subprojects/robotpy-hal/pyproject.toml b/subprojects/robotpy-hal/pyproject.toml
@@ -11,7 +11,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0b1,~=2025.0.0a6",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a8",
     "robotpy-wpiutil~=2025.0.0b3",
 ]
 
diff --git a/subprojects/robotpy-halsim-ds-socket/pyproject.toml b/subprojects/robotpy-halsim-ds-socket/pyproject.toml
@@ -15,7 +15,7 @@ robotpysimext = ["ds-socket = halsim_ds_socket"]
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0b1,~=2025.0.0a6",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a8",
     "robotpy-hal~=2025.0.0b3",
     "robotpy-wpinet~=2025.0.0b3",
 ]
diff --git a/subprojects/robotpy-halsim-gui/pyproject.toml b/subprojects/robotpy-halsim-gui/pyproject.toml
@@ -14,7 +14,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0b1,~=2025.0.0a6",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a8",
     "robotpy-wpiutil~=2025.0.0b3",
     "robotpy-wpimath~=2025.0.0b3",
     "robotpy-hal~=2025.0.0b3",
diff --git a/subprojects/robotpy-halsim-ws/pyproject.toml b/subprojects/robotpy-halsim-ws/pyproject.toml
@@ -19,7 +19,7 @@ robotpysimext = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0b1,~=2025.0.0a6",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a8",
     "robotpy-hal~=2025.0.0b3",
     "robotpy-wpinet~=2025.0.0b3",
 ]
diff --git a/subprojects/robotpy-romi/pyproject.toml b/subprojects/robotpy-romi/pyproject.toml
@@ -11,7 +11,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0b1,~=2025.0.0a6",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a8",
     "wpilib~=2025.0.0b3"
 ]
 
diff --git a/subprojects/robotpy-wpilib/pyproject.toml b/subprojects/robotpy-wpilib/pyproject.toml
@@ -18,7 +18,7 @@ robotpy = ["run = wpilib._impl.start:Main"]
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0b1,~=2025.0.0a6",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a8",
     "robotpy-wpiutil~=2025.0.0b3",
     "robotpy-wpimath~=2025.0.0b3",
     "robotpy-hal~=2025.0.0b3",
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Pose2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Pose2d.yml
@@ -21,13 +21,17 @@ classes:
           '':
           Translation2d, Rotation2d:
           units::meter_t, units::meter_t, Rotation2d:
+          const Eigen::Matrix3d&:
+            rename: fromMatrix
+            keepalive: []
       Translation:
       Rotation:
       RotateBy:
       TransformBy:
       RelativeTo:
       Exp:
       Log:
+      ToMatrix:
       Nearest:
         overloads:
           std::span<const Pose2d> [const]:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Pose3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Pose3d.yml
@@ -23,6 +23,10 @@ classes:
           Translation3d, Rotation3d:
           units::meter_t, units::meter_t, units::meter_t, Rotation3d:
           const Pose2d&:
+            keepalive: []
+          const Eigen::Matrix4d&:
+            rename: fromMatrix
+            keepalive: []
       operator+:
       operator-:
       operator==:
@@ -39,6 +43,7 @@ classes:
       RelativeTo:
       Exp:
       Log:
+      ToMatrix:
       ToPose2d:
 
 inline_code: |
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Rotation2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Rotation2d.yml
@@ -25,7 +25,11 @@ classes:
             template_impls:
               - ['units::radian_t']
           double, double:
+          const Eigen::Matrix2d&:
+            rename: fromMatrix
+            keepalive: []
       RotateBy:
+      ToMatrix:
       Radians:
       Degrees:
       Cos:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Rotation3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Rotation3d.yml
@@ -16,12 +16,18 @@ classes:
         overloads:
           '':
           const Quaternion&:
+            keepalive: []
           units::radian_t, units::radian_t, units::radian_t:
           const Eigen::Vector3d&, units::radian_t:
+            keepalive: []
           const Eigen::Vector3d&:
+            keepalive: []
           const Eigen::Matrix3d&:
+            keepalive: []
           const Eigen::Vector3d&, const Eigen::Vector3d&:
+            keepalive: []
           const Rotation2d&:
+            keepalive: []
       operator+:
       operator-:
         overloads:
@@ -38,6 +44,7 @@ classes:
       Z:
       Axis:
       Angle:
+      ToMatrix:
       ToRotation2d:
 
 inline_code: |
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Transform2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Transform2d.yml
@@ -16,13 +16,18 @@ classes:
       Transform2d:
         overloads:
           const Pose2d&, const Pose2d&:
+            keepalive: []
           Translation2d, Rotation2d:
           units::meter_t, units::meter_t, Rotation2d:
+          const Eigen::Matrix3d&:
+            rename: fromMatrix
+            keepalive: []
           '':
       Translation:
-      Rotation:
       X:
       Y:
+      ToMatrix:
+      Rotation:
       Inverse:
       operator*:
       operator/:
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Transform3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Transform3d.yml
@@ -15,14 +15,20 @@ classes:
       Transform3d:
         overloads:
           const Pose3d&, const Pose3d&:
+            keepalive: []
           Translation3d, Rotation3d:
           units::meter_t, units::meter_t, units::meter_t, Rotation3d:
+          const Eigen::Matrix4d&:
+            rename: fromMatrix
+            keepalive: []
           '':
           const frc::Transform2d&:
+            keepalive: []
       Translation:
       X:
       Y:
       Z:
+      ToMatrix:
       Rotation:
       Inverse:
       operator*:
diff --git a/subprojects/robotpy-wpimath/pyproject.toml b/subprojects/robotpy-wpimath/pyproject.toml
@@ -11,7 +11,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0b1,~=2025.0.0a6",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a8",
     "robotpy-wpiutil~=2025.0.0b3",
     # "numpy", # broken in raspbian CI
 ]
diff --git a/subprojects/robotpy-wpimath/tests/geometry/test_rotation2d.py b/subprojects/robotpy-wpimath/tests/geometry/test_rotation2d.py
@@ -0,0 +1,82 @@
+import importlib.util
+import math
+
+import pytest
+
+from wpimath.geometry import Rotation2d
+
+
+@pytest.mark.parametrize(
+    "radians,degrees",
+    [
+        (math.pi / 3, 60.0),
+        (math.pi / 4, 45.0),
+    ],
+)
+def test_radians_to_degrees(radians: float, degrees: float):
+    rot = Rotation2d(radians)
+    assert math.isclose(degrees, rot.degrees())
+
+
+@pytest.mark.parametrize(
+    "degrees,radians",
+    [
+        (45.0, math.pi / 4),
+        (30.0, math.pi / 6),
+    ],
+)
+def test_degrees_to_radians(degrees: float, radians: float):
+    rot = Rotation2d.fromDegrees(degrees)
+    assert math.isclose(radians, rot.radians())
+
+
+def test_rotate_by_from_zero() -> None:
+    zero = Rotation2d()
+    rotated = zero + Rotation2d.fromDegrees(90)
+
+    assert math.isclose(math.pi / 2, rotated.radians())
+    assert math.isclose(90.0, rotated.degrees())
+
+
+def test_rotate_by_non_zero() -> None:
+    rot = Rotation2d.fromDegrees(90.0)
+    rot += Rotation2d.fromDegrees(30.0)
+
+    assert math.isclose(120.0, rot.degrees())
+
+
+def test_minus() -> None:
+    rot1 = Rotation2d.fromDegrees(70)
+    rot2 = Rotation2d.fromDegrees(30)
+
+    assert math.isclose(40.0, (rot1 - rot2).degrees())
+
+
+def test_unary_minus() -> None:
+    rot = Rotation2d.fromDegrees(20)
+    assert math.isclose(-20.0, (-rot).degrees())
+
+
+def test_equality() -> None:
+    rot1 = Rotation2d.fromDegrees(43.0)
+    rot2 = Rotation2d.fromDegrees(43.0)
+    assert rot1 == rot2
+
+    rot1 = Rotation2d.fromDegrees(-180.0)
+    rot2 = Rotation2d.fromDegrees(180.0)
+    assert rot1 == rot2
+
+
+def test_inequality() -> None:
+    rot1 = Rotation2d.fromDegrees(43.0)
+    rot2 = Rotation2d.fromDegrees(43.5)
+    assert rot1 != rot2
+
+
+@pytest.mark.skipif(
+    importlib.util.find_spec("numpy") is None, reason="numpy is not available"
+)
+def test_to_matrix() -> None:
+    before = Rotation2d.fromDegrees(20.0)
+    after = Rotation2d.fromMatrix(before.toMatrix())
+    assert before == after
diff --git a/subprojects/robotpy-wpinet/pyproject.toml b/subprojects/robotpy-wpinet/pyproject.toml
@@ -41,6 +41,6 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0b1,~=2025.0.0a6",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a8",
     "robotpy-wpiutil~=2025.0.0b3",
 ]
diff --git a/subprojects/robotpy-wpiutil/pyproject.toml b/subprojects/robotpy-wpiutil/pyproject.toml
@@ -9,7 +9,7 @@ install_requires = []
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0b1,~=2025.0.0a6",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a8",
 ]
 
 [tool.robotpy-build]
diff --git a/subprojects/robotpy-xrp/pyproject.toml b/subprojects/robotpy-xrp/pyproject.toml
@@ -16,7 +16,7 @@ robotpysimext = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0b1,~=2025.0.0a6",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a8",
     "wpilib~=2025.0.0b3"
 ]
 

Original file line number	Diff line number	Diff line change
`@@ -13,7 +13,7 @@ exclude_artifacts = [`
`13`	`13`	`"opencv-cpp"`
`14`	`14`	`]`
`15`	`15`
`16`		`-robotpy_build_req = "<2025.0.0b1,~=2025.0.0a6"`
	`16`	`+robotpy_build_req = "<2025.0.0b1,~=2025.0.0a8"`
`17`	`17`
`18`	`18`	`#`
`19`	`19`	`# Subproject configuration`
Original file line number	Diff line number	Diff line change
`@@ -12,7 +12,7 @@ install_requires = [`
`12`	`12`
`13`	`13`	`[build-system]`
`14`	`14`	`requires = [`
`15`		`- "robotpy-build<2025.0.0b1,~=2025.0.0a6",`
	`15`	`+ "robotpy-build<2025.0.0b1,~=2025.0.0a8",`
`16`	`16`	`"robotpy-wpiutil~=2025.0.0b3",`
`17`	`17`	`"robotpy-wpinet~=2025.0.0b3",`
`18`	`18`	`]`
Original file line number	Diff line number	Diff line change
`@@ -11,7 +11,7 @@ install_requires = [`
`11`	`11`
`12`	`12`	`[build-system]`
`13`	`13`	`requires = [`
`14`		`- "robotpy-build<2025.0.0b1,~=2025.0.0a6",`
	`14`	`+ "robotpy-build<2025.0.0b1,~=2025.0.0a8",`
`15`	`15`	`"robotpy-wpiutil~=2025.0.0b3",`
`16`	`16`	`]`
`17`	`17`
Original file line number	Diff line number	Diff line change
`@@ -15,7 +15,7 @@ robotpysimext = ["ds-socket = halsim_ds_socket"]`
`15`	`15`
`16`	`16`	`[build-system]`
`17`	`17`	`requires = [`
`18`		`- "robotpy-build<2025.0.0b1,~=2025.0.0a6",`
	`18`	`+ "robotpy-build<2025.0.0b1,~=2025.0.0a8",`
`19`	`19`	`"robotpy-hal~=2025.0.0b3",`
`20`	`20`	`"robotpy-wpinet~=2025.0.0b3",`
`21`	`21`	`]`
Original file line number	Diff line number	Diff line change
`@@ -19,7 +19,7 @@ robotpysimext = [`
`19`	`19`
`20`	`20`	`[build-system]`
`21`	`21`	`requires = [`
`22`		`- "robotpy-build<2025.0.0b1,~=2025.0.0a6",`
	`22`	`+ "robotpy-build<2025.0.0b1,~=2025.0.0a8",`
`23`	`23`	`"robotpy-hal~=2025.0.0b3",`
`24`	`24`	`"robotpy-wpinet~=2025.0.0b3",`
`25`	`25`	`]`