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Use constexpr for DifferentialDriveKinematics

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This commit is contained in:
Peter Johnson
2019-10-27 19:36:01 -07:00
parent 936627bd94
commit 0be6b64756
2 changed files with 12 additions and 31 deletions
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26
wpilibc/src/main/native/cpp/kinematics/DifferentialDriveKinematics.cpp
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@@ -1,26 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "frc/kinematics/DifferentialDriveKinematics.h"
using namespace frc;
DifferentialDriveKinematics::DifferentialDriveKinematics(
units::meter_t trackWidth)
: m_trackWidth(trackWidth) {}
ChassisSpeeds DifferentialDriveKinematics::ToChassisSpeeds(
const DifferentialDriveWheelSpeeds& wheelSpeeds) const {
return {(wheelSpeeds.left + wheelSpeeds.right) / 2.0, 0_mps,
(wheelSpeeds.right - wheelSpeeds.left) / m_trackWidth * 1_rad};
}
DifferentialDriveWheelSpeeds DifferentialDriveKinematics::ToWheelSpeeds(
const ChassisSpeeds& chassisSpeeds) const {
return {chassisSpeeds.vx - m_trackWidth / 2 * chassisSpeeds.omega / 1_rad,
chassisSpeeds.vx + m_trackWidth / 2 * chassisSpeeds.omega / 1_rad};
}

17
wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
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@@ -31,7 +31,8 @@ class DifferentialDriveKinematics {
* empirical value may be larger than the physical measured value due to
* scrubbing effects.
*/
explicit DifferentialDriveKinematics(units::meter_t trackWidth);
constexpr explicit DifferentialDriveKinematics(units::meter_t trackWidth)
: m_trackWidth(trackWidth) {}
/**
* Returns a chassis speed from left and right component velocities using
@@ -40,8 +41,11 @@ class DifferentialDriveKinematics {
* @param wheelSpeeds The left and right velocities.
* @return The chassis speed.
*/
ChassisSpeeds ToChassisSpeeds(
const DifferentialDriveWheelSpeeds& wheelSpeeds) const;
constexpr ChassisSpeeds ToChassisSpeeds(
const DifferentialDriveWheelSpeeds& wheelSpeeds) const {
return {(wheelSpeeds.left + wheelSpeeds.right) / 2.0, 0_mps,
(wheelSpeeds.right - wheelSpeeds.left) / m_trackWidth * 1_rad};
}
/**
* Returns left and right component velocities from a chassis speed using
@@ -51,8 +55,11 @@ class DifferentialDriveKinematics {
* represent the chassis' speed.
* @return The left and right velocities.
*/
DifferentialDriveWheelSpeeds ToWheelSpeeds(
const ChassisSpeeds& chassisSpeeds) const;
constexpr DifferentialDriveWheelSpeeds ToWheelSpeeds(
const ChassisSpeeds& chassisSpeeds) const {
return {chassisSpeeds.vx - m_trackWidth / 2 * chassisSpeeds.omega / 1_rad,
chassisSpeeds.vx + m_trackWidth / 2 * chassisSpeeds.omega / 1_rad};
}
private:
units::meter_t m_trackWidth;