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Merge pull request #120 from robotpy/geom-from-matrix
Rename geometry from matrix constructor overloads
2 parents 767ecf8 + 0dd99d2 commit 1d6c7ee

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21 files changed

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-15
lines changed

21 files changed

+128
-15
lines changed

‎rdev.toml

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@@ -13,7 +13,7 @@ exclude_artifacts = [
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"opencv-cpp"
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]
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robotpy_build_req = "<2025.0.0b1,~=2025.0.0a6"
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robotpy_build_req = "<2025.0.0b1,~=2025.0.0a8"
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#
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# Subproject configuration

‎subprojects/pyntcore/pyproject.toml

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[build-system]
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requires = [
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"robotpy-build<2025.0.0b1,~=2025.0.0a6",
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"robotpy-build<2025.0.0b1,~=2025.0.0a8",
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"robotpy-wpiutil~=2025.0.0b3",
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"robotpy-wpinet~=2025.0.0b3",
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]

‎subprojects/robotpy-apriltag/pyproject.toml

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@@ -12,7 +12,7 @@ install_requires = [
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[build-system]
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requires = [
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"robotpy-build<2025.0.0b1,~=2025.0.0a6",
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"robotpy-build<2025.0.0b1,~=2025.0.0a8",
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"robotpy-wpiutil~=2025.0.0b3",
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"robotpy-wpimath~=2025.0.0b3",
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]

‎subprojects/robotpy-cscore/pyproject.toml

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@@ -13,7 +13,7 @@ install_requires = [
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[build-system]
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requires = [
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"robotpy-build<2025.0.0b1,~=2025.0.0a6",
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"robotpy-build<2025.0.0b1,~=2025.0.0a8",
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"robotpy-wpiutil~=2025.0.0b3",
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"robotpy-wpinet~=2025.0.0b3",
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"pyntcore~=2025.0.0b3",

‎subprojects/robotpy-hal/pyproject.toml

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@@ -11,7 +11,7 @@ install_requires = [
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[build-system]
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requires = [
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"robotpy-build<2025.0.0b1,~=2025.0.0a6",
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"robotpy-build<2025.0.0b1,~=2025.0.0a8",
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"robotpy-wpiutil~=2025.0.0b3",
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]
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‎subprojects/robotpy-halsim-ds-socket/pyproject.toml

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@@ -15,7 +15,7 @@ robotpysimext = ["ds-socket = halsim_ds_socket"]
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[build-system]
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requires = [
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"robotpy-build<2025.0.0b1,~=2025.0.0a6",
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"robotpy-build<2025.0.0b1,~=2025.0.0a8",
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"robotpy-hal~=2025.0.0b3",
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"robotpy-wpinet~=2025.0.0b3",
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]

‎subprojects/robotpy-halsim-gui/pyproject.toml

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@@ -14,7 +14,7 @@ install_requires = [
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[build-system]
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requires = [
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"robotpy-build<2025.0.0b1,~=2025.0.0a6",
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"robotpy-build<2025.0.0b1,~=2025.0.0a8",
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"robotpy-wpiutil~=2025.0.0b3",
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"robotpy-wpimath~=2025.0.0b3",
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"robotpy-hal~=2025.0.0b3",

‎subprojects/robotpy-halsim-ws/pyproject.toml

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@@ -19,7 +19,7 @@ robotpysimext = [
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[build-system]
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requires = [
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"robotpy-build<2025.0.0b1,~=2025.0.0a6",
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"robotpy-build<2025.0.0b1,~=2025.0.0a8",
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"robotpy-hal~=2025.0.0b3",
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"robotpy-wpinet~=2025.0.0b3",
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]

‎subprojects/robotpy-romi/pyproject.toml

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@@ -11,7 +11,7 @@ install_requires = [
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[build-system]
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requires = [
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"robotpy-build<2025.0.0b1,~=2025.0.0a6",
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"robotpy-build<2025.0.0b1,~=2025.0.0a8",
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"wpilib~=2025.0.0b3"
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]
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‎subprojects/robotpy-wpilib/pyproject.toml

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@@ -18,7 +18,7 @@ robotpy = ["run = wpilib._impl.start:Main"]
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[build-system]
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requires = [
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"robotpy-build<2025.0.0b1,~=2025.0.0a6",
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"robotpy-build<2025.0.0b1,~=2025.0.0a8",
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"robotpy-wpiutil~=2025.0.0b3",
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"robotpy-wpimath~=2025.0.0b3",
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"robotpy-hal~=2025.0.0b3",

‎subprojects/robotpy-wpimath/gen/geometry/Pose2d.yml

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@@ -21,13 +21,17 @@ classes:
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'':
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Translation2d, Rotation2d:
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units::meter_t, units::meter_t, Rotation2d:
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const Eigen::Matrix3d&:
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rename: fromMatrix
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keepalive: []
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Translation:
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Rotation:
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RotateBy:
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TransformBy:
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RelativeTo:
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Exp:
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Log:
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ToMatrix:
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Nearest:
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overloads:
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std::span<const Pose2d> [const]:

‎subprojects/robotpy-wpimath/gen/geometry/Pose3d.yml

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@@ -23,6 +23,10 @@ classes:
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Translation3d, Rotation3d:
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units::meter_t, units::meter_t, units::meter_t, Rotation3d:
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const Pose2d&:
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keepalive: []
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const Eigen::Matrix4d&:
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rename: fromMatrix
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keepalive: []
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operator+:
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operator-:
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operator==:
@@ -39,6 +43,7 @@ classes:
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RelativeTo:
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Exp:
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Log:
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ToMatrix:
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ToPose2d:
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inline_code: |

‎subprojects/robotpy-wpimath/gen/geometry/Rotation2d.yml

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@@ -25,7 +25,11 @@ classes:
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template_impls:
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- ['units::radian_t']
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double, double:
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const Eigen::Matrix2d&:
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rename: fromMatrix
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keepalive: []
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RotateBy:
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ToMatrix:
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Radians:
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Degrees:
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Cos:

‎subprojects/robotpy-wpimath/gen/geometry/Rotation3d.yml

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@@ -16,12 +16,18 @@ classes:
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overloads:
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'':
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const Quaternion&:
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keepalive: []
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units::radian_t, units::radian_t, units::radian_t:
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const Eigen::Vector3d&, units::radian_t:
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keepalive: []
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const Eigen::Vector3d&:
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keepalive: []
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const Eigen::Matrix3d&:
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keepalive: []
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const Eigen::Vector3d&, const Eigen::Vector3d&:
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keepalive: []
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const Rotation2d&:
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keepalive: []
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operator+:
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operator-:
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overloads:
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Z:
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Axis:
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Angle:
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ToMatrix:
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ToRotation2d:
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inline_code: |

‎subprojects/robotpy-wpimath/gen/geometry/Transform2d.yml

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@@ -16,13 +16,18 @@ classes:
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Transform2d:
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overloads:
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const Pose2d&, const Pose2d&:
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keepalive: []
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Translation2d, Rotation2d:
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units::meter_t, units::meter_t, Rotation2d:
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const Eigen::Matrix3d&:
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rename: fromMatrix
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keepalive: []
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'':
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Translation:
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Rotation:
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X:
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Y:
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ToMatrix:
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Rotation:
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Inverse:
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operator*:
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operator/:

‎subprojects/robotpy-wpimath/gen/geometry/Transform3d.yml

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@@ -15,14 +15,20 @@ classes:
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Transform3d:
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overloads:
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const Pose3d&, const Pose3d&:
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keepalive: []
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Translation3d, Rotation3d:
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units::meter_t, units::meter_t, units::meter_t, Rotation3d:
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const Eigen::Matrix4d&:
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rename: fromMatrix
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keepalive: []
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'':
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const frc::Transform2d&:
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keepalive: []
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Translation:
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X:
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Y:
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Z:
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ToMatrix:
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Rotation:
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Inverse:
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operator*:

‎subprojects/robotpy-wpimath/pyproject.toml

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[build-system]
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requires = [
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"robotpy-build<2025.0.0b1,~=2025.0.0a6",
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"robotpy-build<2025.0.0b1,~=2025.0.0a8",
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"robotpy-wpiutil~=2025.0.0b3",
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# "numpy", # broken in raspbian CI
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]

‎subprojects/robotpy-wpimath/tests/geometry/test_rotation2d.py

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import importlib.util
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import math
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import pytest
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from wpimath.geometry import Rotation2d
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@pytest.mark.parametrize(
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"radians,degrees",
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[
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(math.pi / 3, 60.0),
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(math.pi / 4, 45.0),
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],
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)
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def test_radians_to_degrees(radians: float, degrees: float):
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rot = Rotation2d(radians)
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assert math.isclose(degrees, rot.degrees())
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@pytest.mark.parametrize(
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"degrees,radians",
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[
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(45.0, math.pi / 4),
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(30.0, math.pi / 6),
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],
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)
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def test_degrees_to_radians(degrees: float, radians: float):
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rot = Rotation2d.fromDegrees(degrees)
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assert math.isclose(radians, rot.radians())
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def test_rotate_by_from_zero() -> None:
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zero = Rotation2d()
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rotated = zero + Rotation2d.fromDegrees(90)
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assert math.isclose(math.pi / 2, rotated.radians())
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assert math.isclose(90.0, rotated.degrees())
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def test_rotate_by_non_zero() -> None:
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rot = Rotation2d.fromDegrees(90.0)
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rot += Rotation2d.fromDegrees(30.0)
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assert math.isclose(120.0, rot.degrees())
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def test_minus() -> None:
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rot1 = Rotation2d.fromDegrees(70)
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rot2 = Rotation2d.fromDegrees(30)
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assert math.isclose(40.0, (rot1 - rot2).degrees())
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def test_unary_minus() -> None:
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rot = Rotation2d.fromDegrees(20)
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assert math.isclose(-20.0, (-rot).degrees())
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def test_equality() -> None:
61+
rot1 = Rotation2d.fromDegrees(43.0)
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rot2 = Rotation2d.fromDegrees(43.0)
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assert rot1 == rot2
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rot1 = Rotation2d.fromDegrees(-180.0)
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rot2 = Rotation2d.fromDegrees(180.0)
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assert rot1 == rot2
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def test_inequality() -> None:
71+
rot1 = Rotation2d.fromDegrees(43.0)
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rot2 = Rotation2d.fromDegrees(43.5)
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assert rot1 != rot2
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@pytest.mark.skipif(
77+
importlib.util.find_spec("numpy") is None, reason="numpy is not available"
78+
)
79+
def test_to_matrix() -> None:
80+
before = Rotation2d.fromDegrees(20.0)
81+
after = Rotation2d.fromMatrix(before.toMatrix())
82+
assert before == after

‎subprojects/robotpy-wpinet/pyproject.toml

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[build-system]
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requires = [
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"robotpy-build<2025.0.0b1,~=2025.0.0a6",
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"robotpy-build<2025.0.0b1,~=2025.0.0a8",
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"robotpy-wpiutil~=2025.0.0b3",
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]

‎subprojects/robotpy-wpiutil/pyproject.toml

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[build-system]
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requires = [
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"robotpy-build<2025.0.0b1,~=2025.0.0a6",
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"robotpy-build<2025.0.0b1,~=2025.0.0a8",
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]
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[tool.robotpy-build]

‎subprojects/robotpy-xrp/pyproject.toml

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[build-system]
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requires = [
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"robotpy-build<2025.0.0b1,~=2025.0.0a6",
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"robotpy-build<2025.0.0b1,~=2025.0.0a8",
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"wpilib~=2025.0.0b3"
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]
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