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Replace .to<double>() and .template to<double>() with .value() (#3667)

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It's a less verbose way to do the same thing.
This commit is contained in:
Tyler Veness
2021-10-25 08:58:12 -07:00
committed by GitHub
parent 6bc1db44bc
commit 181723e573
134 changed files with 782 additions and 826 deletions
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26
wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
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@@ -49,7 +49,7 @@ Eigen::Vector<double, 2> DifferentialDrivetrainSim::ClampInput(
void DifferentialDrivetrainSim::SetInputs(units::volt_t leftVoltage,
units::volt_t rightVoltage) {
m_u << leftVoltage.to<double>(), rightVoltage.to<double>();
m_u << leftVoltage.value(), rightVoltage.value();
m_u = ClampInput(m_u);
}
@@ -93,10 +93,10 @@ Pose2d DifferentialDrivetrainSim::GetPose() const {
units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
auto loadIleft =
m_motor.Current(units::radians_per_second_t(m_x(State::kLeftVelocity) *
m_currentGearing /
m_wheelRadius.to<double>()),
units::volt_t(m_u(0))) *
m_motor.Current(
units::radians_per_second_t(m_x(State::kLeftVelocity) *
m_currentGearing / m_wheelRadius.value()),
units::volt_t(m_u(0))) *
wpi::sgn(m_u(0));
return loadIleft;
@@ -104,10 +104,10 @@ units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
units::ampere_t DifferentialDrivetrainSim::GetRightCurrentDraw() const {
auto loadIRight =
m_motor.Current(units::radians_per_second_t(m_x(State::kRightVelocity) *
m_currentGearing /
m_wheelRadius.to<double>()),
units::volt_t(m_u(1))) *
m_motor.Current(
units::radians_per_second_t(m_x(State::kRightVelocity) *
m_currentGearing / m_wheelRadius.value()),
units::volt_t(m_u(1))) *
wpi::sgn(m_u(1));
return loadIRight;
@@ -122,9 +122,9 @@ void DifferentialDrivetrainSim::SetState(
}
void DifferentialDrivetrainSim::SetPose(const frc::Pose2d& pose) {
m_x(State::kX) = pose.X().to<double>();
m_x(State::kY) = pose.Y().to<double>();
m_x(State::kHeading) = pose.Rotation().Radians().to<double>();
m_x(State::kX) = pose.X().value();
m_x(State::kY) = pose.Y().value();
m_x(State::kHeading) = pose.Rotation().Radians().value();
m_x(State::kLeftPosition) = 0;
m_x(State::kRightPosition) = 0;
}
@@ -154,7 +154,7 @@ Eigen::Vector<double, 7> DifferentialDrivetrainSim::Dynamics(
xdot(1) = v * std::sin(x(State::kHeading));
xdot(2) =
((x(State::kRightVelocity) - x(State::kLeftVelocity)) / (2.0 * m_rb))
.to<double>();
.value();
xdot.block<4, 1>(3, 0) = A * x.block<4, 1>(3, 0) + B * u;
return xdot;
}