[wpimath] add Measure<Angle> getter for Rotation2d

wpilibsuite · Apr 9, 2024 · 0a3ff04 · 0a3ff04
1 parent 02c78bc
commit 0a3ff04
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
@@ -187,6 +187,15 @@ public Rotation2d rotateBy(Rotation2d other) {
         m_cos * other.m_cos - m_sin * other.m_sin, m_cos * other.m_sin + m_sin * other.m_cos);
   }
 
+  /**
+   * Returns the measure of the Rotation2d.
+   *
+   * @return The measure of the Rotation2d.
+   */
+    public Measure<Angle> getMeasure() {
+        return Radians.of(getRadians());
+    }
+
   /**
    * Returns the radian value of the Rotation2d.
    *