Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Remove extraneous assignments from DiscretizeAB() (#4967)

Browse Source
This commit is contained in:
Tyler Veness
2023-01-23 09:46:12 -08:00
committed by GitHub
parent 893320544a
commit 00aa66e4fd
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
wpimath/src/main/native/include/frc/system/Discretization.h
View File

@@ -44,9 +44,9 @@ void DiscretizeAB(const Matrixd<States, States>& contA,
// M = [A B]
// [0 0]
Matrixd<States + Inputs, States + Inputs> M;
M.setZero();
M.template block<States, States>(0, 0) = contA;
M.template block<States, Inputs>(0, States) = contB;
M.template block<Inputs, States + Inputs>(States, 0).setZero();
// ϕ = eᴹᵀ = [A_d B_d]
// [ 0 I ]