[wpimath] Make Rotation2d implicitly convert from any angle unit (wpi…

…libsuite#6316) Add unit category concepts to support this.
KangarooKoala · Jan 26, 2024 · 84ef71a · 84ef71a
1 parent 68736d8
commit 84ef71a
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Showing 3 changed files with 9 additions and 31 deletions.
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
@@ -28,18 +28,11 @@ class WPILIB_DLLEXPORT Rotation2d {
   constexpr Rotation2d() = default;
 
   /**
-   * Constructs a Rotation2d with the given radian value.
+   * Constructs a Rotation2d with the given angle.
    *
-   * @param value The value of the angle in radians.
+   * @param value The value of the angle.
    */
-  constexpr Rotation2d(units::radian_t value);  // NOLINT
-
-  /**
-   * Constructs a Rotation2d with the given degree value.
-   *
-   * @param value The value of the angle in degrees.
-   */
-  constexpr Rotation2d(units::degree_t value);  // NOLINT
+  constexpr Rotation2d(units::angle_unit auto value);  // NOLINT
 
   /**
    * Constructs a Rotation2d with the given x and y (cosine and sine)

diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.inc b/wpimath/src/main/native/include/frc/geometry/Rotation2d.inc
@@ -11,13 +11,10 @@
 
 namespace frc {
 
-constexpr Rotation2d::Rotation2d(units::radian_t value)
+constexpr Rotation2d::Rotation2d(units::angle_unit auto value)
     : m_value(value),
-      m_cos(gcem::cos(value.to<double>())),
-      m_sin(gcem::sin(value.to<double>())) {}
-
-constexpr Rotation2d::Rotation2d(units::degree_t value)
-    : Rotation2d(units::radian_t{value}) {}
+      m_cos(gcem::cos(value.template convert<units::radian>().value())),
+      m_sin(gcem::sin(value.template convert<units::radian>().value())) {}
 
 constexpr Rotation2d::Rotation2d(double x, double y) {
   double magnitude = gcem::hypot(x, y);

diff --git a/wpimath/src/main/native/include/units/base.h b/wpimath/src/main/native/include/units/base.h
@@ -53,7 +53,6 @@
 
 #if !defined(_MSC_VER) || _MSC_VER > 1800
 #   define UNIT_HAS_LITERAL_SUPPORT
-#   define UNIT_HAS_VARIADIC_TEMPLATE_SUPPORT
 #endif
 
 #ifndef UNIT_LIB_DEFAULT_TYPE
@@ -358,25 +357,14 @@ template<> inline constexpr const char* abbreviation(const namespaceName::nameSi
 		/** @endcond */\
 	}
 
-#if defined(UNIT_HAS_VARIADIC_TEMPLATE_SUPPORT)
 #define UNIT_ADD_IS_UNIT_CATEGORY_TRAIT(unitCategory)\
 	namespace traits\
 	{\
 		template<typename... T> struct is_ ## unitCategory ## _unit : std::integral_constant<bool, units::all_true<units::traits::detail::is_ ## unitCategory ## _unit_impl<std::decay_t<T>>::value...>::value> {};\
 		template<typename... T> inline constexpr bool is_ ## unitCategory ## _unit_v = is_ ## unitCategory ## _unit<T...>::value;\
-	}
-#else
-#define UNIT_ADD_IS_UNIT_CATEGORY_TRAIT(unitCategory)\
-	namespace traits\
-	{\
-			template<typename T1, typename T2 = T1, typename T3 = T1>\
-			struct is_ ## unitCategory ## _unit : std::integral_constant<bool, units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T1>::type>::value &&\
-				units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T2>::type>::value &&\
-				units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T3>::type>::value>{};\
-			template<typename T1, typename T2 = T1, typename T3 = T1>\
-			inline constexpr bool is_ ## unitCategory ## _unit_v = is_ ## unitCategory ## _unit<T1, T2, T3>::value;\
-	}
-#endif
+	}\
+	template <typename T>\
+	concept unitCategory ## _unit = traits::is_ ## unitCategory ## _unit_v<T>;
 
 #define UNIT_ADD_CATEGORY_TRAIT(unitCategory)\
 	UNIT_ADD_CATEGORY_TRAIT_DETAIL(unitCategory)\