Rotation2d.log() needs a better name

[j5155]

https://github.com/acmerobotics/road-runner/blob/c3f4b1ae5b06637788a034d2fa9c645851f323d4/core/src/main/kotlin/com/acmerobotics/roadrunner/Geometry.kt#L99 This could just be me not being super experienced with math and stuff like this, but naming this function log made it much more difficult to intuitively find and not finding it was the cause of my team's field centric driving issues over the summer. Maybe something like .toRadians(), .asDouble(), or .normalized() would be better here instead?

[bweis]

See the function header:

 * Advanced: Rotations in two dimensions comprise a Lie group referred to as SO(2). The terminology [exp] and [log]
 * comes from the Lie theory, and [this paper](https://arxiv.org/abs/1812.01537) gives a targeted exposition of the key
 * fundamentals.

[rbrott]

Rotation2d.log() needs a better name Maybe something like .toRadians(), .asDouble(), or .normalized() would be better here instead?

I'm open to making asDouble() an alias. That suggests fromDouble() as an exp() alias which seems fine.

This could just be me not being super experienced with math and stuff like this

Not your fault. I've been focusing more on getting the design right/correct at this stage instead of making the library easy/approachable.

not finding it was the cause of my team's field centric driving issues over the summer

I'm curious about this. How are you using log()?

[j5155]

How are you using log()?

Well, I wasn't...I had poseEstimate.heading.real instead https://github.com/jdhs-ftc/offseason-rr1.0/blob/bb60dc047bfe89d4a8e524dfd302371b8d7dbc5b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleopFieldCentric.java#L106 (code based on the LRR example)

[rbrott]

I think you could do something like this instead:

Vector2d input = new Vector2d(
  -gamepad1.left_stick_y * speed,
  -gamepad1.left_stick_x * speed
);

if (fieldCentric) {
  input = drive.pose.heading.inverse().times(
    new Vector2d(-input.x, input.y));
}