Fix documentation implying that no part of Rotation2d wraps #2986
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calcmogul
reviewed
Feb 21, 2025
| @@ -14,7 +14,7 @@ Rotation in 2 dimensions is represented by WPILib's ``Rotation2d`` class ([Java] | |||
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| .. note:: ``Rotation2d`` uses the C++ Units library. The constructor in Java/Python accepts either the angle in radians, or the sine and cosine of the angle, but the ``fromDegrees`` method will construct a ``Rotation2d`` object from degrees. | |||
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| .. note:: ``Rotation2d`` does not wrap the value of the angle, so if a value of 400 degrees is passed into the constructor, then 400 degrees will be returned in subsequent value calls. | |||
| .. note:: ``Rotation2d`` does not wrap the value of the angle, so if a value of 400 degrees is passed into the constructor, then 400 degrees will be returned in subsequent value calls. However, some method calls like ``plus`` and ``minus`` wrap the angle prior to the construction of the ``Rotation2d`` object. | |||
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Some method calls isn't exactly correct. The constructor and angle getters won't wrap the angle, but all other methods will. This behavior was retained to support users abusing Rotation2d as an Euler angle; the 2027 version of Rotation2d makes everything wrap because it fundamentally represents an element of the SO(2) Lie group, not an Euler angle.
Users who don't want wrapping behavior should avoid Rotation2d and just use an Euler angle.
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The Rotation2d object multiple times states throughout documentation that it doesn't wrap, yet has methods that wrap prior to constructing the Rotation2d. This commit clarifies that in the documentation