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[wpimath] Change kinematics.ToTwist2d(end - start) to kinematics.ToTwist2d(start, end) (#5493)

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This commit is contained in:
Joseph Eng
2023-08-01 22:25:26 -07:00
committed by GitHub
parent 815a8403e5
commit 0c93aded8a
23 changed files with 98 additions and 133 deletions
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6
wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
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@@ -83,9 +83,9 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
(rightDistance - leftDistance) / trackWidth * 1_rad};
}
Twist2d ToTwist2d(
const DifferentialDriveWheelPositions& wheelDeltas) const override {
return ToTwist2d(wheelDeltas.left, wheelDeltas.right);
Twist2d ToTwist2d(const DifferentialDriveWheelPositions& start,
const DifferentialDriveWheelPositions& end) const override {
return ToTwist2d(end.left - start.left, end.right - start.right);
}
units::meter_t trackWidth;