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[wpimath] Use immutable member functions in ChassisSpeeds (#7545)

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This commit is contained in:
Tyler Veness
2024-12-15 16:09:34 -08:00
committed by GitHub
parent 945d416d07
commit 03f0fc4dea
24 changed files with 163 additions and 412 deletions
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8
wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h
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@@ -115,8 +115,8 @@ class WPILIB_DLLEXPORT HolonomicDriveController {
m_rotationError = desiredHeading - currentPose.Rotation();
if (!m_enabled) {
return ChassisSpeeds::FromFieldRelativeSpeeds(xFF, yFF, thetaFF,
currentPose.Rotation());
return ChassisSpeeds{xFF, yFF, thetaFF}.ToRobotRelative(
currentPose.Rotation());
}
// Calculate feedback velocities (based on position error).
@@ -126,8 +126,8 @@ class WPILIB_DLLEXPORT HolonomicDriveController {
currentPose.Y().value(), trajectoryPose.Y().value())};
// Return next output.
return ChassisSpeeds::FromFieldRelativeSpeeds(
xFF + xFeedback, yFF + yFeedback, thetaFF, currentPose.Rotation());
return ChassisSpeeds{xFF + xFeedback, yFF + yFeedback, thetaFF}
.ToRobotRelative(currentPose.Rotation());
}
/**