From a7349f00ef19b5713cfd5026cf02f29b408f72d5 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sat, 7 Dec 2024 22:31:09 -0800
Subject: [PATCH] [wpimath] Fix duplicate Rotation2d constructor (#7524)

---
 .../native/include/frc/geometry/Rotation2d.h  | 37 -------------------
 1 file changed, 37 deletions(-)

diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
index 7cb7801e19f..2c3c94540ab 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
@@ -98,43 +98,6 @@ class WPILIB_DLLEXPORT Rotation2d {
     }
   }
 
-  /**
-   * Constructs a Rotation2d from a rotation matrix.
-   *
-   * @param rotationMatrix The rotation matrix.
-   * @throws std::domain_error if the rotation matrix isn't special orthogonal.
-   */
-  constexpr explicit Rotation2d(const Eigen::Matrix2d& rotationMatrix) {
-    auto impl =
-        []<typename Matrix2d>(const Matrix2d& R) -> std::pair<double, double> {
-      // Require that the rotation matrix is special orthogonal. This is true if
-      // the matrix is orthogonal (RRᵀ = I) and normalized (determinant is 1).
-      if ((R * R.transpose() - Matrix2d::Identity()).norm() > 1e-9) {
-        throw std::domain_error("Rotation matrix isn't orthogonal");
-      }
-      if (gcem::abs(R.determinant() - 1.0) > 1e-9) {
-        throw std::domain_error(
-            "Rotation matrix is orthogonal but not special orthogonal");
-      }
-
-      // R = [cosθ  −sinθ]
-      //     [sinθ   cosθ]
-      return {R(0, 0), R(1, 0)};
-    };
-
-    if (std::is_constant_evaluated()) {
-      auto cossin = impl(ct_matrix2d{rotationMatrix});
-      m_cos = std::get<0>(cossin);
-      m_sin = std::get<1>(cossin);
-    } else {
-      auto cossin = impl(rotationMatrix);
-      m_cos = std::get<0>(cossin);
-      m_sin = std::get<1>(cossin);
-    }
-
-    m_value = units::radian_t{gcem::atan2(m_sin, m_cos)};
-  }
-
   /**
    * Adds two rotations together, with the result being bounded between -π and
    * π.