From 658dfc481c96bfb18c292ec79229b709514e0eec Mon Sep 17 00:00:00 2001
From: Andreas Rauschert <andreas.rb.rauschert@bmw.de>
Date: Fri, 12 Nov 2021 18:05:39 +0100
Subject: [PATCH] Fix time conversion and add spline units
- time conversion didn't compile when used
- Added units for spline sections
---
.../include/MantleAPI/Common/orientation.h | 13 ++++++++
MantleAPI/include/MantleAPI/Common/spline.h | 31 +++++++++++++++++++
.../include/MantleAPI/Common/time_utils.h | 6 ++--
3 files changed, 46 insertions(+), 4 deletions(-)
diff --git a/MantleAPI/include/MantleAPI/Common/orientation.h b/MantleAPI/include/MantleAPI/Common/orientation.h
index e52df4ad..b64b1fb6 100644
--- a/MantleAPI/include/MantleAPI/Common/orientation.h
+++ b/MantleAPI/include/MantleAPI/Common/orientation.h
@@ -33,6 +33,19 @@ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-2>, std::ra
UNIT_ADD_CATEGORY_TRAIT(angular_acceleration)
+UNIT_ADD(angular_jerk,
+ radians_per_second_cubed,
+ radians_per_second_cubed,
+ rad_per_s_cu,
+ compound_unit<angle::radians, inverse<cubed<time::seconds>>>)
+
+namespace category
+{
+typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-3>, std::ratio<1>> angular_jerk_unit;
+}
+
+UNIT_ADD_CATEGORY_TRAIT(angular_jerk)
+
} // namespace units
namespace mantle_api
diff --git a/MantleAPI/include/MantleAPI/Common/spline.h b/MantleAPI/include/MantleAPI/Common/spline.h
index 32c97bc9..7b91677a 100644
--- a/MantleAPI/include/MantleAPI/Common/spline.h
+++ b/MantleAPI/include/MantleAPI/Common/spline.h
@@ -17,6 +17,7 @@
#define MANTLEAPI_COMMON_SPLINE_H
#include <MantleAPI/Common/floating_point_helper.h>
+#include <MantleAPI/Common/orientation.h>
#include <MantleAPI/Common/time_utils.h>
#include <MantleAPI/Common/vector.h>
#include <units.h>
@@ -25,6 +26,36 @@
using namespace units;
+namespace units
+{
+UNIT_ADD(jerk,
+ meters_per_second_cubed,
+ meters_per_second_cubed,
+ mps_cu,
+ compound_unit<velocity::meters_per_second, inverse<squared<time::seconds>>>)
+
+namespace category
+{
+typedef base_unit<detail::meter_ratio<1>, std::ratio<0>, std::ratio<-3>> jerk_unit;
+}
+
+UNIT_ADD_CATEGORY_TRAIT(jerk)
+
+UNIT_ADD(jerk_acceleration,
+ meters_per_second_to_the_power_of_four,
+ meters_per_second_to_the_power_of_four,
+ mps_pow4,
+ compound_unit<velocity::meters_per_second, inverse<cubed<time::seconds>>>)
+
+namespace category
+{
+typedef base_unit<detail::meter_ratio<1>, std::ratio<0>, std::ratio<-4>> jerk_acceleration_unit;
+}
+
+UNIT_ADD_CATEGORY_TRAIT(jerk_acceleration)
+
+} // namespace units
+
namespace mantle_api
{
template <typename T>
diff --git a/MantleAPI/include/MantleAPI/Common/time_utils.h b/MantleAPI/include/MantleAPI/Common/time_utils.h
index e870485a..6d4ac464 100644
--- a/MantleAPI/include/MantleAPI/Common/time_utils.h
+++ b/MantleAPI/include/MantleAPI/Common/time_utils.h
@@ -22,13 +22,11 @@ namespace mantle_api
using Time = units::time::millisecond_t;
/// @brief Converts input in [s] to @ref Time.
-/// @tparam T Input type, eg. `double`.
/// @param duration Input value
/// @return Duration representing the given input in units of @ref Time.
-template <typename T>
-inline Time SecondsToTime(T duration)
+inline Time SecondsToTime(double duration)
{
- return units::convert<units::time::seconds, Time>(duration);
+ return units::time::second_t(duration);
}
/// @brief Converts input @ref Time to [s].
--
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