[wpimath] Make Rotation2d implicitly convert from any angle unit

Fixes #6312. Supersedes #6315.
wpilibsuite · Jan 26, 2024 · f9047fb · f9047fb
1 parent 68736d8
commit f9047fb
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Showing 2 changed files with 10 additions and 16 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 +28,13 @@ 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
+  template <typename Angle>
+    requires units::traits::is_angle_unit_v<Angle>
+  constexpr Rotation2d(Angle 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 +11,12 @@
 
 namespace frc {
 
-constexpr Rotation2d::Rotation2d(units::radian_t value)
+template <typename Angle>
+  requires units::traits::is_angle_unit_v<Angle>
+constexpr Rotation2d::Rotation2d(Angle 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);